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Author : Hervé Claude Jacques Moulin
Publisher :
ISBN 13 :
Total Pages : 630 pages
Book Rating : 4.:/5 (841 download)
Download or read book Problems in the Inverse Dynamics Solution for Flexible Manipulators written by Hervé Claude Jacques Moulin and published by . This book was released on 1989 with total page 630 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 : Anthony R. Fraser
Publisher : Springer Science & Business Media
ISBN 13 : 1461539749
Total Pages : 284 pages
Book Rating : 4.4/5 (615 download)
Download or read book Perturbation Techniques for Flexible Manipulators written by Anthony R. Fraser and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.
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 :
Publisher : ScholarlyEditions
ISBN 13 : 1464965064
Total Pages : 864 pages
Book Rating : 4.4/5 (649 download)
Download or read book Issues in Applied Mathematics: 2011 Edition written by and published by ScholarlyEditions. This book was released on 2012-01-09 with total page 864 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues in Applied Mathematics / 2011 Edition is a ScholarlyEditions™ eBook that delivers timely, authoritative, and comprehensive information about Applied Mathematics. The editors have built Issues in Applied Mathematics: 2011 Edition on the vast information databases of ScholarlyNews.™ You can expect the information about Applied Mathematics in this eBook to be deeper than what you can access anywhere else, as well as consistently reliable, authoritative, informed, and relevant. The content of Issues in Applied Mathematics: 2011 Edition has been produced by the world’s leading scientists, engineers, analysts, research institutions, and companies. All of the content is from peer-reviewed sources, and all of it is written, assembled, and edited by the editors at ScholarlyEditions™ and available exclusively from us. You now have a source you can cite with authority, confidence, and credibility. More information is available at http://www.ScholarlyEditions.com/.
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 : Krzysztof Piotr Jankowski
Publisher : Trafford
ISBN 13 : 9781412041393
Total Pages : 265 pages
Book Rating : 4.0/5 (413 download)
Download or read book Inverse Dynamics Control in Robotics Applications written by Krzysztof Piotr Jankowski and published by Trafford. This book was released on 2004 with total page 265 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents both the foundations and implementation aspects of the inverse dynamics control, and examines how the solution of the inverse dynamics problem can be used for the development of controllers for selected engineering applications. The inverse dynamics control approach is directly related to the solution of the inverse dynamics problem considered in analytical mechanics. Having the specified motion and the desired properties of the resulting system, the control inputs that ensure the realization of these control objectives are to be found. By appropriately inverting the dynamic model of the plant to be controlled, a control law can be constructed which cancels the nonlinear part of the dynamics, decouples the interactions between the regulated variables, and specifies the time characteristics of the decay of the task errors. The constrained system formalism is used throughout the book and its usefulness for inverse dynamics formulation is established. The capability of the inverse dynamics controller to enforce the execution of prescribed motion of the system and at the same time to control the interaction forces with the environment is demonstrated. A new approach for the task space decomposition needed for hybrid position/force control is developed, motivated by constrained system formalism and linear algebra methods. The application of the inverse dynamics control is illustrated for several exemplary mechanical systems and for a wide variety of robotic systems; including robots constrained by the environment, robots with flexible joints, multiple robot arms, etc. Pure nonlinear inverse dynamics control is considered, as well as its robust version, and the approximate solutions to the problem. The results of numerical simulations and real-time experiments are presented to support the analytical developments. More than 200 literature sources are referred to in the book. Many mechanical systems considered in engineering practice are dynamically similar to the class of systems considered in this book. The new applications for inverse dynamics solutions arise in such fields as high precision robot manipulator control, flight control, biomechanics, vehicle control, and in many related areas. Therefore, the book can be of interest to specialists involved in developing control laws for a large variety of mechanical systems.
Author : Evtim Zahariev
Publisher : Springer
ISBN 13 : 3030005275
Total Pages : 206 pages
Book Rating : 4.0/5 (3 download)
Download or read book IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, Simulation written by Evtim Zahariev and published by Springer. This book was released on 2019-01-09 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.
Author :
Publisher :
ISBN 13 :
Total Pages : 694 pages
Book Rating : 4.3/5 (91 download)
Download or read book Proceedings of the Japan-U.S.A. Symposium on Flexible Automation written by and published by . This book was released on 1988 with total page 694 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 836 pages
Book Rating : 4.:/5 (31 download)
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Pradip K. Chande
Publisher : Allied Publishers
ISBN 13 : 9788170235125
Total Pages : 836 pages
Book Rating : 4.2/5 (351 download)
Download or read book ICAUTO-95 written by Pradip K. Chande and published by Allied Publishers. This book was released on 1995 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Mohammad Osman Tokhi
Publisher : World Scientific
ISBN 13 : 9814466131
Total Pages : 1199 pages
Book Rating : 4.8/5 (144 download)
Download or read book Mobile Robotics: Solutions And Challenges - Proceedings Of The Twelfth International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Mohammad Osman Tokhi and published by World Scientific. This book was released on 2009-08-26 with total page 1199 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments with a great deal of interest being invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for the dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics specifically in mobile robotics, and their experience is reflected in the careful editing of the contents in the book.
Author : Kenneth J. Waldron
Publisher : Springer Science & Business Media
ISBN 13 : 3642839576
Total Pages : 698 pages
Book Rating : 4.6/5 (428 download)
Download or read book Advanced Robotics: 1989 written by Kenneth J. Waldron and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic of China, Poland, Republic of China, Spain, United States of America.) The subject matter of the papers is equally diverse, covering most technical areas of robotics. The authors are distinguished. They are leaders in the field in their respective countries. The International Conference on Advanced Robotics has always particularly encouraged papers oriented to the design of robotic systems, or to research directed at advanced applications in service robotics, construction, nuclear power, agriculture, mining, underwater systems, and space systems.
Author :
Publisher :
ISBN 13 :
Total Pages : 400 pages
Book Rating : 4.3/5 (243 download)
Download or read book Applied mechanics reviews written by and published by . This book was released on 1948 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 3540003053
Total Pages : 671 pages
Book Rating : 4.5/5 (4 download)
Download or read book Experimental Robotics VIII written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2003-01-21 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of papers on the state of the art in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines, of which its controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results, pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers in this book were presented at the 2002 International Symposium on Experimental Robotics.
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Publisher :
ISBN 13 :
Total Pages : 366 pages
Book Rating : 4.0/5 ( download)
Download or read book Energy Research Abstracts written by and published by . This book was released on 1993-02 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 624 pages
Book Rating : 4.F/5 ( download)
Download or read book Proceedings of the USA-Japan Symposium on Flexible Automation written by and published by . This book was released on 1988 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt:
