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Download or read book Dynamics Analysis of Flexible-link Cooperating Manipulators written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Qiao Sun
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (119 download)
Download or read book Dynamics Analysis of Flexible-link Cooperating Manipulators written by Qiao Sun and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative operation of multiple manipulators has been increasingly used in industrial automation, outer space and hazardous terrestrial applications. Moreover, the requirement for increased speeds of operation and light-weight design of robot manipulators has made structural flexibility a dominant factor in the design and control of cooperating manipulator systems. When multiple manipulators act cooperatively on an object, a closed-loop chain structure is formed. Redundant actuation is one of the inherent characteristics of such systems. Determining actuator torques necessary to achieve a prescribed object motion is known as the inverse dynamics process. Due to the presence of the redundant actuators, inverse dynamics torques for cooperating manipulator systems admit an infinite number of solutions. Consideration of flexibility in the links of manipulators, particularly relevant in space applications, not only complicates the dynamics modeling of the system, but also introduces instability in the inverse dynamics solution. In this study, a dynamics model is derived for a flexible-link cooperating manipulator system and the inverse dynamics procedure for such a system is investigated. In particular, the latter is divided into two subproblems--the force distribution problem and the inverse dynamics problem for serial flexible-link manipulators. The approach chosen to the force distribution problem is to formulate it as a linearly constrained local optimization problem. Several objectives particularly relevant to flexible-link cooperating manipulators are proposed. These include minimum strain energy, minimum weighted norm of elastic accelerations and optimal load sharing schemes. The resulting algorithms are shown to be effective in reducing the vibration of the system and stabilizing the inverse dynamics solution. A stability analysis of the internal dynamics of the inverse dynamics system is also performed by using linearization. Agreement in the behavior of the inverse dynamics system is demonstrated between directly solving the nonlinear dynamics equations with optimal force distribution and calculating the eigenvalues of the plant matrix of the linearized system. A stability approach to the force distribution problem is then proposed which ensures stable behavior of the internal dynamics system under the condition that the number of elastic coordinates of the system is less than or equal to the total number of redundant actuators.
Author : Liang-Wey Chang
Publisher :
ISBN 13 :
Total Pages : 352 pages
Book Rating : 4.:/5 (391 download)
Download or read book Dynamic Analysis of Robotic Manipulators with Flexible Links written by Liang-Wey Chang and published by . This book was released on 1984 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Fei-Yue Wang
Publisher : World Scientific
ISBN 13 : 9789812796721
Total Pages : 464 pages
Book Rating : 4.7/5 (967 download)
Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Author : Iwona Adamiek-Wojcik
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (141 download)
Download or read book Dynamic Analysis of Manipulators with Flexible Links written by Iwona Adamiek-Wojcik and published by . This book was released on 1992 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kshetrimayum Lochan
Publisher : CRC Press
ISBN 13 : 1040152260
Total Pages : 262 pages
Book Rating : 4.0/5 (41 download)
Download or read book Robust Control Algorithms for Two-link Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Author : Jinkun Liu
Publisher : Springer
ISBN 13 : 9811083002
Total Pages : 158 pages
Book Rating : 4.8/5 (11 download)
Download or read book Distributed Parameter Modeling and Boundary Control of Flexible Manipulators written by Jinkun Liu and published by Springer. This book was released on 2018-04-16 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.
Author : Kshetrimayum Lochan
Publisher : CRC Press
ISBN 13 : 1040152201
Total Pages : 236 pages
Book Rating : 4.0/5 (41 download)
Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Author : Yuan Dong
Publisher :
ISBN 13 :
Total Pages : 306 pages
Book Rating : 4.:/5 (156 download)
Download or read book Dynamic Analysis and Position Control of a Single Flexible-link Flexible-joint Robot Manipulator Using Time Delay written by Yuan Dong and published by . This book was released on 2006 with total page 306 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : E-Ming Chen
Publisher :
ISBN 13 :
Total Pages : 296 pages
Book Rating : 4.:/5 (33 download)
Download or read book Dynamic Analysis and Experimental Investigation on Position and Force Control for Flexible Link Manipulators written by E-Ming Chen and published by . This book was released on 1995 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jeh Won Lee
Publisher :
ISBN 13 :
Total Pages : 416 pages
Book Rating : 4.:/5 (229 download)
Download or read book Dynamic Analysis and Control of Light Weight Manipulators with Flexible Parallel Link Mechanisms written by Jeh Won Lee and published by . This book was released on 1990 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : M. Osman Tokhi
Publisher : IET
ISBN 13 : 0863414486
Total Pages : 579 pages
Book Rating : 4.8/5 (634 download)
Download or read book Flexible Robot Manipulators written by M. Osman Tokhi and published by IET. This book was released on 2008-05-20 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Author : M. Moallem
Publisher : Springer
ISBN 13 : 9781447139522
Total Pages : 161 pages
Book Rating : 4.1/5 (395 download)
Download or read book Flexible-link Robot Manipulators written by M. Moallem and published by Springer. This book was released on 2014-03-12 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear observers and sliding control. The study of dynamic properties and control techniques for flexible-link manipulators can also be a framework for designing the mechanical shape and material of these systems such that improved properties can be achieved in order to facilitate the control problem. Therefore, structural shape optimization is considered as a means of improving the dynamic behaviour of flexible-link manipulators.
Author : Alex Lazinica
Publisher : BoD – Books on Demand
ISBN 13 : 9533070900
Total Pages : 732 pages
Book Rating : 4.5/5 (33 download)
Download or read book Robot Manipulators written by Alex Lazinica and published by BoD – Books on Demand. This book was released on 2010-04-01 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world.
Author : Yanqing Gao
Publisher :
ISBN 13 :
Total Pages : 728 pages
Book Rating : 4.:/5 (752 download)
Download or read book FLEXIBLE MANIPULATORS: MODELING, ANALYSIS AND OPTIMUM DESIGNS. written by Yanqing Gao and published by . This book was released on 2010 with total page 728 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lightweight robotic manipulators play important roles in many applications, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation, the research effort on accurate modeling and high performance control has increased dramatically in recent years. Very few studies with quantitative results have been reported in the literature on the effect of size, shape, mass distribution, tip load, and other factors on the dynamics and operational performance of flexible manipulators. However, such analyses are critical to the effectiveness of any model for optimization and control purposes. The objective of this dissertation is to provide a unified approach that simultaneously considers all factors in mechanical, electrical, sensing, and control components to address modeling, analysis, optimization, and control of flexible manipulators. A systematic study of various models and comparison their pros and cons with respect to specific design and control problems are developed. Those critical factors mentioned above are addressed with systematic but specific numerical investigations based on the current available dynamic models. Two conventional dual optimal design problems have been well studied in our previous studies. To make those designs useful, complicated constraints that are encountered in reality must be included. In most of those cases, analytical procedures developed before would no longer applicable. New methods for optimal design problems with meaningful constraints are looked into. The complexity of a manipulator system is due to the interrelation and interdependency of its subsystems, for example, its kinematic system control system, driver system, and measuring or sensing system. In traditional design, a manipulator's link structure is designed first, followed by its driver system, then a measuring system, and finally its control system. This leads to a sequential design process and a locally optimal solution, and therefore the potential of a flexible manipulator is rarely fully realized. To overcome such problems, a concurrent design procedure that integrates all subsystems must be under taken, that is, a mechatronic approach must be considered in the design of flexible manipulators.
Author : Richard M. Murray
Publisher : CRC Press
ISBN 13 : 1351469797
Total Pages : 503 pages
Book Rating : 4.3/5 (514 download)
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Author : Lorenzo Sciavicco
Publisher : Springer Science & Business Media
ISBN 13 : 1447104498
Total Pages : 391 pages
Book Rating : 4.4/5 (471 download)
Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 391 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
