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Author : Lawrence Stephen Ward
Publisher :
ISBN 13 :
Total Pages : 248 pages
Book Rating : 4.:/5 (162 download)
Download or read book Dynamics and Control of a Nonlinear Flexible Manipulator written by Lawrence Stephen Ward and published by . This book was released on 1986 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Octavio Maizza Neto
Publisher :
ISBN 13 :
Total Pages : 450 pages
Book Rating : 4.F/5 ( download)
Download or read book Modal Analysis and Control of Flexible Manipulator Arms written by Octavio Maizza Neto and published by . This book was released on 1974 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Liang Tang
Publisher :
ISBN 13 :
Total Pages : 202 pages
Book Rating : 4.:/5 (247 download)
Download or read book Analysis and Control of Nonlinear Flexible Manipulator written by Liang Tang and published by . This book was released on 1991 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Zhijie Liu
Publisher : Springer Nature
ISBN 13 : 981152596X
Total Pages : 184 pages
Book Rating : 4.8/5 (115 download)
Download or read book PDE Modeling and Boundary Control for Flexible Mechanical System written by Zhijie Liu and published by Springer Nature. This book was released on 2020-03-16 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive review of fundamental issues in the dynamical modeling and vibration control design for several flexible mechanical systems, such as flexible satellites, flexible aerial refueling hoses, and flexible three-dimensional manipulators. Offering an authoritative reference guide to the dynamics and control of flexible mechanical systems, it equips readers to solve a host of problems concerning these systems. It provides not only a complete overview of flexible systems, but also a better understanding of the technical levels involved. The book is divided into ten chapters: Chapters 1 and 2 lay the foundations, while the remaining chapters explore several independent yet related topics in detail. The book’s final chapter presents conclusions and recommendations for future research. Given its scope, the book is intended for researchers, graduate students, and engineers whose work involves control systems, flexible mechanical systems, and related areas.
Author : Yanqing Gao
Publisher : Academic Press
ISBN 13 : 0123970369
Total Pages : 269 pages
Book Rating : 4.1/5 (239 download)
Download or read book Flexible Manipulators written by Yanqing Gao and published by Academic Press. This book was released on 2012-04-12 with total page 269 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere
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 : Rush D. Robinett III
Publisher : Springer Science & Business Media
ISBN 13 : 1461505399
Total Pages : 353 pages
Book Rating : 4.4/5 (615 download)
Download or read book Flexible Robot Dynamics and Controls written by Rush D. Robinett III and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 353 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls within the Mechanical En gineering Department at the University of New Mexico (UNM). These viewgraphs, encouragement from several students, and many late nights have produced a book that should provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals. The content of this book spans several disciplines including structural dynam ics, system identification, optimization, and linear, digital, and nonlinear control theory which are developed from several points of view including electrical, me chanical, and aerospace engineering as well as engineering mechanics. As a result, the authors believe that this book demonstrates the value of solid applied theory when developing hardware solutions to real world problems. The reader will find many real world applications in this book and will be shown the applicability of these techniques beyond flexible structures which, in turn, shows the value of mul tidisciplinary education and teaming.
Author : Mohamed Ibrahim Shalaby
Publisher :
ISBN 13 :
Total Pages : 244 pages
Book Rating : 4.:/5 (11 download)
Download or read book Nonlinear Control for Two-Link Flexible Manipulator written by Mohamed Ibrahim Shalaby and published by . This book was released on 2017 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Recently the use of robot manipulators has been increasing in many applications such as medical applications, automobile, construction, manufacturing, military, space, etc. However, current rigid manipulators have high inertia and use actuators with large energy consumption. Moreover, rigid manipulators are slow and have low payload-to arm-mass ratios because link deformation is not allowed. The main advantages of flexible manipulators over rigid manipulators are light in weight, higher speed of operation, larger workspace, smaller actuator, lower energy consumption and lower cost. However, there is no adequate closed-form solutions exist for flexible manipulators. This is mainly because flexible dynamics are modeled with partial differential equations, which give rise to infinite dimensional dynamical systems that are, in general, not possible to represent exactly or efficiently on a computer which makes modeling a challenging task. In addition, if flexibility nature wasn’t considered, there will be calculation errors in the calculated torque requirement for the motors and in the calculated position of the end-effecter. As for the control task, it is considered as a complex task since flexible manipulators are non-minimum phase system, under-actuated system and Multi-Input/Multi-Output (MIMO) nonlinear system. This thesis focuses on the development of dynamic formulation model and three control techniques aiming to achieve accurate position control and improving dynamic stability for Two-Link Flexible Manipulators (TLFMs). LQR controller is designed based on the linearized model of the TLFM; however, it is applied on both linearized and nonlinear models. In addition to LQR, Backstepping and Sliding mode controllers are designed as nonlinear control approaches and applied on both the nonlinear model of the TLFM and the physical system. The three developed control techniques are tested through simulation based on the developed dynamic formulation model using MATLAB/SIMULINK. Stability and performance analysis were conducted and tuned to obtain the best results. Then, the performance and stability results obtained through simulation are compared. Finally, the developed control techniques were implemented and analyzed on the 2-DOF Serial Flexible Link Robot experimental system from Quanser and the results are illustrated and compared with that obtained through simulation.
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 : Wei He
Publisher : Springer Science & Business Media
ISBN 13 : 1447153375
Total Pages : 240 pages
Book Rating : 4.4/5 (471 download)
Download or read book Dynamics and Control of Mechanical Systems in Offshore Engineering written by Wei He and published by Springer Science & Business Media. This book was released on 2013-10-02 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamics and Control of Mechanical Systems in Offshore Engineering is a comprehensive treatment of marine mechanical systems (MMS) involved in processes of great importance such as oil drilling and mineral recovery. Ranging from nonlinear dynamic modeling and stability analysis of flexible riser systems, through advanced control design for an installation system with a single rigid payload attached by thrusters, to robust adaptive control for mooring systems, it is an authoritative reference on the dynamics and control of MMS. Readers will gain not only a complete picture of MMS at the system level, but also a better understanding of the technical considerations involved and solutions to problems that commonly arise from dealing with them. The text provides: · a complete framework of dynamical analysis and control design for marine mechanical systems; · new results on the dynamical analysis of riser, mooring and installation systems together with a general modeling method for a class of MMS; · a general method and strategy for realizing the control objectives of marine systems with guaranteed stability the effectiveness of which is illustrated by extensive numerical simulation; and · approximation-based control schemes using neural networks for installation of subsea structures with attached thrusters in the presence of time-varying environmental disturbances and parametric uncertainties. Most of the results presented are analytical with repeatable design algorithms with proven closed-loop stability and performance analysis of the proposed controllers is rigorous and detailed. Dynamics and Control of Mechanical Systems in Offshore Engineering is primarily intended for researchers and engineers in the system and control community, but graduate students studying control and marine engineering will also find it a useful resource as will practitioners working on the design, running or maintenance of offshore platforms.
Author : Amor Jnifene
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)
Download or read book Dynamics and Control of Light Weight Flexible Manipulators written by Amor Jnifene and published by . This book was released on 1996 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Current robot manipulators are controlled using methods that do not take into account the links and joints flexibility. Consequently, tasks are usually carried in a slow fashion. The objective of this research is to improve the performance of light weight flexible manipulators by developing dynamic models and control strategies that include the effects of the links flexibility. Toward achieving this objective, the dynamic model of a single link flexible manipulator has been developed. Two hermit cubic functions are used in conjunction with the deflection and the slope at the tip of the link in order to express the deflection at any point along the link. The model is used to simulate the response of the single link manipulator and its ability to follow various trajectories under collocated control. Even though collocated control such as the computed torque method leads to asymptotic stability in the case of rigid link manipulators, the end point of the single link flexible manipulator has shown sustained oscillations under this type of control. In order to improve the performance of the single link and reduce the tip deflection, dynamic stiffening has been added to the link by using the angular position of a point along the link as the controlled variable. This control method is referred to as the non collocated control. Simulations of the robot motion under non collocated control has shown a significant reduction in the position error of the end point. In order to increase the damping of the flexible link, a new approach referred to as the Computed Torque/Delayed Deflection (CTDD) has been used. The CTDD approach combines the non collocated control with a delayed deflection at the point being used for non collocation feedback. The fastest decay in the end point vibrations was obtained when the delay time is selected to be half the period of the lowest frequency in the system. The CTDD has been extended to the case of a two link flexible manipulator. Simulations results for the tracking performance of the two link flexible manipulator have been carried out using two paths: A straight line path and a four points path. The advantages of using the CTDD approach are outlined by comparing its performance to those of a collocated control (computed torque method) and the non collocated control.
Author : Carlos Canudas de Wit
Publisher : Springer Science & Business Media
ISBN 13 : 1447115015
Total Pages : 392 pages
Book Rating : 4.4/5 (471 download)
Download or read book Theory of Robot Control written by Carlos Canudas de Wit and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.
Author : Mohammad J. Yazdanpanah
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)
Download or read book Control of Flexible-link Manipulators Using Nonlinear H(infinity) Techniques written by Mohammad J. Yazdanpanah and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Chun-tien Yeh
Publisher :
ISBN 13 :
Total Pages : 284 pages
Book Rating : 4.:/5 (34 download)
Download or read book Dynamics and Control of a Rigid/flexible Manipulator written by Chun-tien Yeh and published by . This book was released on 1992 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of high-speed, light-weight robotic manipulators is a challenge because of their special dynamic characteristics. In this work, a two-stage control algorithm for the position control of flexible manipulators is proposed. First, the more complex, flexible robot system is replaced by a simplified hypothetical rigid body system (HRRA) with off-line trajectory planning. This reduces the complexity of the controller design for the flexible robotic arm. A parameter-optimization approach was adopted to minimize the difference between these two models in this stage. Also, a comparison of computational efficiency is made among the methods of calculus-of-variations, dynamic-programming, and the proposed parameter-optimization. At the second stage, simple linear state feedback controllers, based on the simplified hypothetical rigid body model, are proposed to control the actual robotic system. With the feedback gains selected properly by the pole-placement and linear quadratic methods, the results show satisfactory achievement of the motion objectives. The algorithm is implemented for a two-link rigid/flexible robotic arm, and the results indicate that the procedure is capable of providing effective control with much simpler computational requirements than those of procedures published previously.
Author : Mark W Spong
Publisher : John Wiley & Sons
ISBN 13 : 9788126517800
Total Pages : 356 pages
Book Rating : 4.5/5 (178 download)
Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Author : National Aeronautics and Space Adm Nasa
Publisher :
ISBN 13 : 9781729045992
Total Pages : 30 pages
Book Rating : 4.0/5 (459 download)
Download or read book Large Planar Maneuvers for Articulated Flexible Manipulators written by National Aeronautics and Space Adm Nasa and published by . This book was released on 2018-10-21 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt: An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms. Huang, Jen-Kuang and Yang, Li-Farn Unspecified Center NAG1-830...
Author : Carlos E. Padilla
Publisher :
ISBN 13 :
Total Pages : 104 pages
Book Rating : 4.:/5 (23 download)
Download or read book Nonlinear Strain-displacement Relations in the Dynamics of a Two-link Flexible Manipulator written by Carlos E. Padilla and published by . This book was released on 1989 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:
