Skip to main content
  • Book
  • Open Access
  • © 2020

AI based Robot Safe Learning and Control

  • Is the first book on the safe control of robotic systems based on dynamic neural networks

  • Presents a general theoretical framework for robot systems with redundant DOFs, which is capable of enhancing safety and robustness, and optimizing flexibility in uncertain dynamic environments

  • Provides examples of typical simulations and experiments for robot systems in situations such as motion planning and force control, which readers can easily implement

  • Is an open access book

Buying options

Softcover Book USD 49.99
Price excludes VAT (USA)
Hardcover Book USD 59.99
Price excludes VAT (USA)

Table of contents (6 chapters)

  1. Front Matter

    Pages i-xvii
  2. Adaptive Jacobian Based Trajectory Tracking for Redundant Manipulators with Model Uncertainties in Repetitive Tasks

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 1-15Open Access
  3. RNN Based Trajectory Control for Manipulators with Uncertain Kinematic Parameters

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 17-38Open Access
  4. RNN Based Adaptive Compliance Control for Robots with Model Uncertainties

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 39-61Open Access
  5. Deep RNN Based Obstacle Avoidance Control for Redundant Manipulators

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 63-81Open Access
  6. Optimization-Based Compliant Control for Manipulators Under Dynamic Obstacle Constraints

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 83-104Open Access
  7. RNN for Motion-Force Control of Redundant Manipulators with Optimal Joint Torque

    • Xuefeng Zhou, Zhihao Xu, Shuai Li, Hongmin Wu, Taobo Cheng, Xiaojing Lv
    Pages 105-127Open Access

About this book

This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. 
This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.

Keywords

  • Safe Control
  • Deep Reinforcement Learning
  • Recurrent Neural Network
  • Force Control
  • Obstacle Ovoidance
  • Adaptive Control
  • Trajectory Tracking
  • Open Access

Authors and Affiliations

  • Robotic Team, Guangdong Institute of Intelligent Manufacturing, Guangzhou, China

    Xuefeng Zhou, Zhihao Xu, Hongmin Wu, Taobo Cheng

  • School of Engineering, Swansea University, Swansea, UK

    Shuai Li

  • School of Aircraft Maintenance Engineering, Guangzhou Civil Aviation College, Guangzhou, China

    Xiaojing Lv

About the authors

Dr. Xuefeng Zhou is an Associate Professor and Leader of the Robotics Team at Guangdong Institute of Intelligent Manufacturing, Guangdong Academy of Science. He received his Ph.D. degree in Manufacturing and Automation from South China University of Technology in 2011. His research mainly focuses on motion planning and control, force control, and legged robots. He has published more than 40 journal articles and conference papers.

Dr. Zhihao Xu is a Researcher at Guangdong Institute of Intelligent Manufacturing, Guangdong Academy of Science. He received his Ph.D. degree in Control Science and Engineering from Nanjing University of Science and Technology, China, in 2016. His research mainly focuses on intelligent control theory, motion planning and control and force control. He has published more than 30 journal articles and conference papers. 

Prof. Shuai Li is a Ph.D. Supervisor and Associate Professor (Reader) at the College of Engineering, Swansea University, UK. He received his Ph.D. degree in Electrical and Computer Engineering from Stevens Institute of Technology, New Jersey, USA, in 2014. His research interests are robot manipulation, automation and instrumentation, artificial intelligence and industrial robots. He has published over 80 papers in journals such as IEEE TAC, TII, TCYB, TIE and TNNLS. He serves as Editor-in-Chief of the International Journal of Robotics and Control and was the General Co-Chair of the 2018 International Conference on Advanced Robotics and Intelligent Control.

Dr. Hongmin Wu is a Researcher at Guangdong Institute of Intelligent Manufacturing, Guangdong Academy of Science. He received his Ph.D. degree in Mechanical Engineering from Guangdong University of Technology, Guangzhou, China, in 2019. His research mainly focuses on robot learning, autonomous manipulation, deep learning and human­–robot collaboration. He has published more than 20 journal articles and conference papers.

Dr. Taobo Cheng received the Ph.D. degree in Welding Engineering, South China University of Technology, Guangzhou, China, in 1998. He is currently the director of Guangdong Institute of Intelligent Manufacturing. His current research interests include intelligent manufacturing technology, automation and information technology. 

Dr. Xiaojing Lv is a Researcher at the School of Aircraft Maintenance Engineering, Guangzhou Civil Aviation College. She received her Ph.D. degree in Engineering Mechanics from Nanjing University of Science and Technology, China, in 2016. Her research mainly focuses on fault diagnosis and engineering mechanics.


Bibliographic Information

Buying options

Softcover Book USD 49.99
Price excludes VAT (USA)
Hardcover Book USD 59.99
Price excludes VAT (USA)