Robust Low Order Control Of Flexible Joint Manipulators

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Robust Low-order Control of Flexible Joint Manipulators

Author : Joaquin Astorga
Publisher :
ISBN 13 :
Total Pages : 238 pages
Book Rating : 4.:/5 (238 download)

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Book Synopsis Robust Low-order Control of Flexible Joint Manipulators by : Joaquin Astorga

Download or read book Robust Low-order Control of Flexible Joint Manipulators written by Joaquin Astorga and published by . This book was released on 1990 with total page 238 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $Hsb{infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model. The nominal linear system with the state feedback controller determines the reference dynamics to be retained by the low-order controller based on the projective controls approach. The residual dynamics of the closed-loop system are selected under a suitable criterion to enhance disturbance rejection. The nonlinear model of the manipulator is also treated as a nonlinear system with structured uncertainty and sufficient conditions are determined for stability and disturbance rejection using linear state feedback and full-order controllers. Examples are given in the case of the one-link and two-link manipulators. The decentralized control option is also studied. The design of the controllers is based on a linear decoupled model obtained from the linearized model. The methodology here follows the same two phases of design used in the centralized case. Adaptive mechanisms are illustrated to improve the robust performance of the low-order decentralized control.

Robust Control of Flexible Joint Robot Manipulators

Author : John York Hung
Publisher :
ISBN 13 :
Total Pages : 101 pages
Book Rating : 4.:/5 (18 download)

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Book Synopsis Robust Control of Flexible Joint Robot Manipulators by : John York Hung

Download or read book Robust Control of Flexible Joint Robot Manipulators written by John York Hung and published by . This book was released on 1990 with total page 101 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robust Control Design for Flexible Joint Manipulators

Author : Dong Hwan Kim
Publisher :
ISBN 13 :
Total Pages : 356 pages
Book Rating : 4.:/5 (33 download)

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Book Synopsis Robust Control Design for Flexible Joint Manipulators by : Dong Hwan Kim

Download or read book Robust Control Design for Flexible Joint Manipulators written by Dong Hwan Kim and published by . This book was released on 1995 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Linear Robust Trajectory Control of Flexible Joint Manipulators

Author : Aiping Yu
Publisher :
ISBN 13 :
Total Pages : 82 pages
Book Rating : 4.:/5 (957 download)

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Book Synopsis Linear Robust Trajectory Control of Flexible Joint Manipulators by : Aiping Yu

Download or read book Linear Robust Trajectory Control of Flexible Joint Manipulators written by Aiping Yu and published by . This book was released on 1998 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robust Nonlinear Control of Flexible Joint Manipulators

Author : Giles A. Wilson
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (62 download)

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Book Synopsis Robust Nonlinear Control of Flexible Joint Manipulators by : Giles A. Wilson

Download or read book Robust Nonlinear Control of Flexible Joint Manipulators written by Giles A. Wilson and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robust Control of a Flexible Joint Manipulator with Compliant External Contact Using a Hybrid Sliding Mode-MRAC Technique

Author : David A. Frommer
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (362 download)

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Book Synopsis Robust Control of a Flexible Joint Manipulator with Compliant External Contact Using a Hybrid Sliding Mode-MRAC Technique by : David A. Frommer

Download or read book Robust Control of a Flexible Joint Manipulator with Compliant External Contact Using a Hybrid Sliding Mode-MRAC Technique written by David A. Frommer and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Flexible Robotics

Author : Mathieu Grossard
Publisher : John Wiley & Sons
ISBN 13 : 1118572122
Total Pages : 290 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Flexible Robotics by : Mathieu Grossard

Download or read book Flexible Robotics written by Mathieu Grossard and published by John Wiley & Sons. This book was released on 2013-08-05 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.

Advanced Studies of Flexible Robotic Manipulators

Author : Fei-Yue Wang
Publisher : World Scientific
ISBN 13 : 9789812796721
Total Pages : 464 pages
Book Rating : 4.7/5 (967 download)

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Book Synopsis Advanced Studies of Flexible Robotic Manipulators by : Fei-Yue Wang

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

Scientific and Technical Aerospace Reports

Author :
Publisher :
ISBN 13 :
Total Pages : 456 pages
Book Rating : 4.:/5 (3 download)

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Book Synopsis Scientific and Technical Aerospace Reports by :

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.

Sliding Mode Control and Observation

Author : Yuri Shtessel
Publisher : Springer Science & Business Media
ISBN 13 : 0817648933
Total Pages : 369 pages
Book Rating : 4.8/5 (176 download)

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Book Synopsis Sliding Mode Control and Observation by : Yuri Shtessel

Download or read book Sliding Mode Control and Observation written by Yuri Shtessel and published by Springer Science & Business Media. This book was released on 2013-06-01 with total page 369 pages. Available in PDF, EPUB and Kindle. Book excerpt: The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Robust control technology based on this methodology has been applied to many real-world problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. Sliding Mode Control and Observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higher-order sliding mode control and observation algorithms and their applications. The present volume addresses a range of sliding mode control issues, including: *Conventional sliding mode controller and observer design *Second-order sliding mode controllers and differentiators *Frequency domain analysis of conventional and second-order sliding mode controllers *Higher-order sliding mode controllers and differentiators *Higher-order sliding mode observers *Sliding mode disturbance observer based control *Numerous applications, including reusable launch vehicle and satellite formation control, blood glucose regulation, and car steering control are used as case studies Sliding Mode Control and Observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems, while being of interest to a wider audience of graduate students in electrical/mechanical/aerospace engineering and applied mathematics, as well as researchers in electrical, computer, chemical, civil, mechanical, aeronautical, and industrial engineering, applied mathematicians, control engineers, and physicists. Sliding Mode Control and Observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Exercises provided at the end of each chapter make this an ideal text for an advanced course taught in control theory.

Flexible Joint Robots

Author : Mark C. Readman
Publisher : CRC Press
ISBN 13 : 9780849326011
Total Pages : 164 pages
Book Rating : 4.3/5 (26 download)

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Book Synopsis Flexible Joint Robots by : Mark C. Readman

Download or read book Flexible Joint Robots written by Mark C. Readman and published by CRC Press. This book was released on 1994-07-13 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.

Adaptive Control for Robotic Manipulators

Author : Dan Zhang
Publisher : CRC Press
ISBN 13 : 1351678922
Total Pages : 407 pages
Book Rating : 4.3/5 (516 download)

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Book Synopsis Adaptive Control for Robotic Manipulators by : Dan Zhang

Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Robust Control Algorithms for Two-link Flexible Manipulators

Author : Kshetrimayum Lochan
Publisher : CRC Press
ISBN 13 : 1040152260
Total Pages : 262 pages
Book Rating : 4.0/5 (41 download)

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Book Synopsis Robust Control Algorithms for Two-link Flexible Manipulators by : Kshetrimayum Lochan

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.

Fault Diagnosis

Author : Józef Korbicz
Publisher : Springer Science & Business Media
ISBN 13 : 3642186157
Total Pages : 936 pages
Book Rating : 4.6/5 (421 download)

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Book Synopsis Fault Diagnosis by : Józef Korbicz

Download or read book Fault Diagnosis written by Józef Korbicz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 936 pages. Available in PDF, EPUB and Kindle. Book excerpt: This comprehensive work presents the status and likely development of fault diagnosis, an emerging discipline of modern control engineering. It covers fundamentals of model-based fault diagnosis in a wide context, providing a good introduction to the theoretical foundation and many basic approaches of fault detection.

Robust Adaptive Control of Manipulators with Application to Joint Flexibility

Author : Ho-Hoon Lee
Publisher :
ISBN 13 :
Total Pages : 412 pages
Book Rating : 4.:/5 (437 download)

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Book Synopsis Robust Adaptive Control of Manipulators with Application to Joint Flexibility by : Ho-Hoon Lee

Download or read book Robust Adaptive Control of Manipulators with Application to Joint Flexibility written by Ho-Hoon Lee and published by . This book was released on 1992 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robust Adaptive Dynamic Programming

Author : Yu Jiang
Publisher : John Wiley & Sons
ISBN 13 : 1119132657
Total Pages : 220 pages
Book Rating : 4.1/5 (191 download)

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Book Synopsis Robust Adaptive Dynamic Programming by : Yu Jiang

Download or read book Robust Adaptive Dynamic Programming written by Yu Jiang and published by John Wiley & Sons. This book was released on 2017-04-13 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive look at state-of-the-art ADP theory and real-world applications This book fills a gap in the literature by providing a theoretical framework for integrating techniques from adaptive dynamic programming (ADP) and modern nonlinear control to address data-driven optimal control design challenges arising from both parametric and dynamic uncertainties. Traditional model-based approaches leave much to be desired when addressing the challenges posed by the ever-increasing complexity of real-world engineering systems. An alternative which has received much interest in recent years are biologically-inspired approaches, primarily RADP. Despite their growing popularity worldwide, until now books on ADP have focused nearly exclusively on analysis and design, with scant consideration given to how it can be applied to address robustness issues, a new challenge arising from dynamic uncertainties encountered in common engineering problems. Robust Adaptive Dynamic Programming zeros in on the practical concerns of engineers. The authors develop RADP theory from linear systems to partially-linear, large-scale, and completely nonlinear systems. They provide in-depth coverage of state-of-the-art applications in power systems, supplemented with numerous real-world examples implemented in MATLAB. They also explore fascinating reverse engineering topics, such how ADP theory can be applied to the study of the human brain and cognition. In addition, the book: Covers the latest developments in RADP theory and applications for solving a range of systems’ complexity problems Explores multiple real-world implementations in power systems with illustrative examples backed up by reusable MATLAB code and Simulink block sets Provides an overview of nonlinear control, machine learning, and dynamic control Features discussions of novel applications for RADP theory, including an entire chapter on how it can be used as a computational mechanism of human movement control Robust Adaptive Dynamic Programming is both a valuable working resource and an intriguing exploration of contemporary ADP theory and applications for practicing engineers and advanced students in systems theory, control engineering, computer science, and applied mathematics.

Design and Application of Robust Reduced-order Hybrid Position and Force Control for a Two-link Flexible Manipulator

Author : David Edward Bossert
Publisher :
ISBN 13 :
Total Pages : 478 pages
Book Rating : 4.:/5 (36 download)

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Book Synopsis Design and Application of Robust Reduced-order Hybrid Position and Force Control for a Two-link Flexible Manipulator by : David Edward Bossert

Download or read book Design and Application of Robust Reduced-order Hybrid Position and Force Control for a Two-link Flexible Manipulator written by David Edward Bossert and published by . This book was released on 1996 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: