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Author : Alice Chee Koh
Publisher :
ISBN 13 :
Total Pages : 96 pages
Book Rating : 4.:/5 (96 download)
Download or read book Input Shaping Control of a Flexible Manipulator written by Alice Chee Koh and published by . This book was released on 2005 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Donia Mohammed Salih Osman
Publisher :
ISBN 13 :
Total Pages : 48 pages
Book Rating : 4.:/5 (96 download)
Download or read book Input Shaping Control of a Single-link Flexible Manipulator written by Donia Mohammed Salih Osman and published by . This book was released on 2009 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Mahmood M. Mohamad Olwane
Publisher :
ISBN 13 :
Total Pages : 76 pages
Book Rating : 4.:/5 (96 download)
Download or read book Adaptive Input Shaping for Control of a Flexible Manipulator System written by Mahmood M. Mohamad Olwane and published by . This book was released on 2009 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Bhuvendra Rudrusamy
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (96 download)
Download or read book Optimal Input Shaping for Vibration Control of a Flexible Manipulator Using Genetic Algorithm written by Bhuvendra Rudrusamy and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : JIE HUANG
Publisher : CRC Press
ISBN 13 : 1000713288
Total Pages : 413 pages
Book Rating : 4.0/5 (7 download)
Download or read book Nonlinear Dynamics and Vibration Control of Flexible Systems written by JIE HUANG and published by CRC Press. This book was released on 2022-10-04 with total page 413 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an essential guide to nonlinear dynamics and vibration control, detailing both the theory and the practical industrial applications within all aspects of engineering. Demonstrating how to improve efficiency through reducing unwanted vibration, it will aid both students and engineers in practically and safely improving flexible structures through control methods. Increasing demand for light-weight robotic systems and space applications has actuated the design and construction of more flexible structures. These flexible structures, involving numerous dynamic systems, experience unwanted vibrations, impacting accuracy, operating speed, safety and, importantly, efficiency. This book aids engineers in assuaging this issue through vibration control methods, including nonlinear dynamics. It covers topics such as dynamic modeling of nonlinear system, nonlinear oscillators, and modal analyses of multiple-mode system. It also looks at vibration control methods including linear control, nonlinear control, intelligent control, and command smoothers. These control methods are effective and reliable methods to counteract unwanted vibrations. The book is practically minded, using industrial applications throughout, such as bridge cranes, tower cranes, aerial cranes and liquid sloshing. It also discusses cable-suspension structures, light-weight links, and fluid motions which exhibit flexible-structure dynamics. The book will be of interest to students and engineers alike, in the field of mechatronics, mechanical systems and signal processing, nonlinear dynamics, vibration, and control engineering.
Author : Jie Wang
Publisher : Springer Nature
ISBN 13 : 9811650977
Total Pages : 190 pages
Book Rating : 4.8/5 (116 download)
Download or read book Rigid-Flexible Coupling Dynamics and Control of Flexible Spacecraft with Time-Varying Parameters written by Jie Wang and published by Springer Nature. This book was released on 2021-09-15 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the dynamic modeling and attitude control of flexible spacecraft with time-varying parameters. The dynamic characteristics, vibration control methods and attitude stabilization methods for spacecraft are systematically studied in respects of the theoretical modeling, numerical simulation and the ground experiment. Three active control theories in complex mode space are presented for flexible space structures. Optimal slew strategies based on variable amplitudes input shaping methods and coupling control methods are proposed for stabilization of flexible spacecraft. The research provides an important way to solve the problem of high-precision attitude control of flexible spacecraft with time-varying parameters. This book is appropriate for the researchers who focus on the multi-body dynamics, attitude and vibration control of flexible spacecraft.
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 : 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 : Jie Huang
Publisher : Lulu.com
ISBN 13 : 0244495238
Total Pages : 164 pages
Book Rating : 4.2/5 (444 download)
Download or read book Vibration Reduction for Flexible Structures by Smoothing Commands written by Jie Huang and published by Lulu.com. This book was released on 2020-01-04 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book described vibration reduction for flexible structures by the command smoothing techniques. The Command smoothing technique is a kind of open-loop controller. The operator's commands filter through a piecewise continuous function, called smoother, to produce smoothed commands. Smoothed commands move flexible dynamic systems toward desired positions with minimal oscillations. Five types of command smoother were reported including one-piece, two-pieces, three-pieces, and four-pieces smoothers, and the smoother for multi-mode Duffing oscillators. All smoothers are robust to changes in the system parameters and working conditions. The command smoothing technique has been successfully applied to industrial cranes, sloshing suppression, flexible manipulators, high-speed cam and follower systems, and helicopter slung loads.
Author : Raymond Charles Manning
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (268 download)
Download or read book Improving the Control of Two-mode Flexible Systems with Input Shaping written by Raymond Charles Manning and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Machine vibration leads to lower precision, efficiency, and safety. As a result, large sums of money and innumerable man-hours are spent in efforts to reduce vibration in machinery. A subclass of machinery that is widely used in industry is two-mode flexible systems. Cranes with double-pendulum dynamics and two-link flexible robotic arms are representative examples of two-mode flexible systems. In order to thoroughly understand these types of systems, a detailed study of double-pendulum cranes is preformed. The crane payload is considered to be a distributed mass. The parameters of the payload and the crane has important effects on the dynamic response. the effects are studied as a function of the parameters so that effective control methods can be developed. This thesis develops a technique for improving the control of two-mode flexible systems called input shaping. Input shaping is a control strategy that uses a series of impulses to modify the reference command to suppress unwanted vibration in a system. This thesis reviews several types of input shapers and presents a method for optimizing a robust input shaper called Specified Insensitivity input shapers using knowledge of amplitude contributions of each mode to the overall response. Simulations and experiments are presented to verify the new algorithm. Two human operator studies are presented to demonstrate the effectiveness of input shaping when used in conjunction with distributed crane payloads, such as cargo containers. One study investigates the improvement in efficiency when using input shaping and the differences in efficiency between input shapers. The other study investigates operator learning when moving a payload with unshaped and shaped commands.
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 : H.A. Talebi
Publisher : Springer Science & Business Media
ISBN 13 : 9781852334093
Total Pages : 172 pages
Book Rating : 4.3/5 (34 download)
Download or read book Control of Flexible-link Manipulators Using Neural Networks written by H.A. Talebi and published by Springer Science & Business Media. This book was released on 2001-01-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.
Author :
Publisher :
ISBN 13 :
Total Pages : 7 pages
Book Rating : 4.:/5 (682 download)
Download or read book Input Shaping Methods for Telerobotic Operation of Flexible, Long-reach Manipulators written by and published by . This book was released on 1994 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator's high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics.
Author : Thomas R. Kurfess
Publisher : CRC Press
ISBN 13 : 1420039733
Total Pages : 608 pages
Book Rating : 4.4/5 (2 download)
Download or read book Robotics and Automation Handbook written by Thomas R. Kurfess and published by CRC Press. This book was released on 2018-10-03 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error. The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system. With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.
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 : Wei He
Publisher : Springer
ISBN 13 : 9811075395
Total Pages : 202 pages
Book Rating : 4.8/5 (11 download)
Download or read book Active Vibration Control and Stability Analysis of Flexible Beam Systems written by Wei He and published by Springer. This book was released on 2018-12-17 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical explorations of several fundamental problems in the dynamics and control of flexible beam systems. By integrating fresh concepts and results to form a systematic approach to control, it establishes a basic theoretical framework. It includes typical control design examples verified using MATLAB simulation, which in turn illustrate the successful practical applications of active vibration control theory for flexible beam systems. The book is primarily intended for researchers and engineers in the control system and mechanical engineering community, offering them a unique resource.
Author : Fausto Pedro García Márquez
Publisher : BoD – Books on Demand
ISBN 13 : 9535108719
Total Pages : 324 pages
Book Rating : 4.5/5 (351 download)
Download or read book Digital Filters and Signal Processing written by Fausto Pedro García Márquez and published by BoD – Books on Demand. This book was released on 2013-01-16 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Digital filters, together with signal processing, are being employed in the new technologies and information systems, and are implemented in different areas and applications. Digital filters and signal processing are used with no costs and they can be adapted to different cases with great flexibility and reliability. This book presents advanced developments in digital filters and signal process methods covering different cases studies. They present the main essence of the subject, with the principal approaches to the most recent mathematical models that are being employed worldwide.
