Flexible Robot Manipulators - Modelling, Simulation and Control

✍ Scribed by Tokhi, M.O.; Azad, A.K.M.(eds.)

Publisher: Institution of Engineering and Technology
Year: 2008
Tongue: English
Leaves: 569
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

The material in this book is presented in four distinct components:

Modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches.

Numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques.

Open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators.

Software environments for analysis, design, simulation and control of flexible manipulators.

✦ Table of Contents

Content:
Front Matter
• Abbreviations
• Notations
• Preface
• Table of Contents
1. Flexible Manipulators - An Overview
2. Modelling of a Single-Link Flexible Manipulator System: Theoretical and Practical Investigations
3. Classical Mechanics Approach of Modelling Multi-Link Flexible Manipulators
4. Parametric and Non-Parametric Modelling of Flexible Manipulators
5. Finite Difference and Finite Element Simulation of Flexible Manipulators
6. Dynamic Characterisation of Flexible Manipulators Using Symbolic Manipulation
7. Flexible Space Manipulators: Modelling, Simulation, Ground Validation and Space Operation
8. Open-Loop Control of Flexible Manipulators Using Command-Generation Techniques
9. Control of Flexible Manipulators with Input Shaping Techniques
10. Enhanced PID-Type Classical Control of Flexible Manipulators
11. Force and Position Control of Flexible Manipulators
12. Collocated and Non-Collocated Control of Flexible Manipulators
13. Decoupling Control of Flexible Manipulators
14. Modelling and Control of Space Manipulators with Flexible Links
15. Soft Computing Approaches for Control of a Flexible Manipulator
16. Modelling and Control of Smart Material Flexible Manipulators
17. Modelling and Control of Rigid-Flexible Manipulators
18. Analysis and Design Environment for Flexible Manipulators
19. SCEFMAS - An Environment for Simulation and Control of Flexible Manipulator Systems
• References
Index

✦ Subjects

Автоматизация;Робототехнические системы (РТС);

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