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Author : Eduardo Mario Nebot
Publisher :
ISBN 13 :
Total Pages : 394 pages
Book Rating : 4.:/5 (789 download)
Download or read book Modelling and Control of a Single Link Flexible Manipulator written by Eduardo Mario Nebot and published by . This book was released on 1988 with total page 394 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 : Sumiran V. Neriya
Publisher :
ISBN 13 :
Total Pages : 248 pages
Book Rating : 4.:/5 (195 download)
Download or read book Dynamic Modeling, Simulation, and Control of a Single-link Flexible Manipulator with General Motions written by Sumiran V. Neriya and published by . This book was released on 1988 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 : 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 : 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.
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 : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 1846286417
Total Pages : 644 pages
Book Rating : 4.8/5 (462 download)
Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Author : M. O. Tokhi
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (61 download)
Download or read book Modelling of a single-link flexible manipulator system written by M. O. Tokhi and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 : Kerem Gurses
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (858 download)
Download or read book Dynamic Modeling and Vibration Control of a Single-link Flexible Manipulator Using a Combined Linear and Angular Velocity Feedback Controller written by Kerem Gurses and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of lightweight, thin flexible structures creates a dilemma in the aerospace androbotic industries. While increased operating efficiency and mobility can be achieved byemploying such structures, these benefits are compromised by significant structuralvibrations due to the increased flexibility. To address this problem, extensive research inthe area of vibration control of flexible structures has been performed over the last twodecades. The majority of the research has been based on the use of discrete piezoceramicactuators (PZTs) as active dampers, as they are commercial availability and have highforce and bandwidth capabilities. Many different active vibration control strategies havepreviously been proposed, in order to effectively suppress vibrations. The synthesizedvibration controllers will be less effective or even make the system to become unstable ifthe actuator locations and control gains are not chosen properly. However, there iscurrently no quantitative procedure that deals with these procedures simultaneously. This thesis presents a theoretical and numerical study of vibration control of a singlelinkflexible manipulator attached to a rotating hub, with PZTs bonded to the surface ofthe link. A commercially available fibre optic sensor called ShapeTapeTM is introduced asa new feedback sensing technique, which is complemented by a quantitative anddefinitive model based procedure for selecting the individual PZT locations and gains. Based on Euler-Bernoulli beam theory, discrete finite element equations are obtainedusing Lagrange's equations for a PZT-mounted beam element. Slewing of the flexiblelink by a rotating hub induces vibrations in the link that persist long after the hub stopsrotating. These vibrations are suppressed through a combined scheme of PD-based hubmotion control and proposed PZT actuator control, which is a composite linear (L-type)and angular (A-type) velocity feedback controller. A Lyapunov approach was used tosynthesize the PZT controller. The feedback sensing of linear and angular velocities isrealized by using the ShapeTapeTM, which measures the bend and twist of the flexiblelink's centerline. Both simulation and experimental results show that tip vibrations aremost effectively suppressed using the proposed composite controller. Its performanceadvantage over the individual linear or angular velocity feedback controllers confirmstheoretical predictions made based on a non-proportional damping model of the PZTeffects. Furthermore, it is demonstrated that the non-proportional nature of the PZTdamping effect must be considered in order to bound the range of allowable controllergain values.
Author : Abhaya Pal Singh
Publisher : Springer Nature
ISBN 13 : 3030582477
Total Pages : 138 pages
Book Rating : 4.0/5 (35 download)
Download or read book Fractional Modeling and Controller Design of Robotic Manipulators written by Abhaya Pal Singh and published by Springer Nature. This book was released on 2020-10-15 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.
Author : Abdelmalek Madani
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (596 download)
Download or read book Modelling and Control of a Two-link Flexible Manipulator written by Abdelmalek Madani and published by . This book was released on 1995 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : James H. Mutti
Publisher :
ISBN 13 :
Total Pages : 450 pages
Book Rating : 4.:/5 (447 download)
Download or read book Modeling and Control of a Two-link Flexible Manipulator written by James H. Mutti and published by . This book was released on 1998 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Badrul Aisham Md Zain
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (817 download)
Download or read book Modelling and Control of Flexible Manipulators in 3D Motion written by Badrul Aisham Md Zain and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents investigations into modelling and control of flexible manipulators in 3D motion. A finite difference (FD) simulation environment characterising a single-link manipulator in horizontal plane motion and corresponding experimental rig is considered as test bed in this work. The dynamic model of the system is derived using the Lagrange equation and discretised using the FD method. Mathematical models are developed based on physical laws and first principles to represent the dynamics of a physical system well. The simulation algorithm is extended by deriving mathematical model of a single-link flexible manipulator in vertical plane motion with inclusion of gravity. The dynamic behaviour of the system for vertical motion is formulated. The response of the manipulator is assessed in comparison to the corresponding theoretical ones in time and the frequency domains to verify the accuracy of the model in characterizing the behaviour of the flexible manipulator system. However, for systems with complex behaviour and non-linear dynamics, modelling based on first principles is often a formidable and undesirable task, so to solve. these problems, system identification proven as an excellent tool to model such complex systems, is adopted. The objective of system identification is to find exact or approximate model of a dynamic system based on observed system input and output. Linear and non-linear models for the flexible manipulator system are developed using system identification techniques. Linear parametric models, characterising the flexible manipulator system are obtained using the potential of recursive least squares (RLS) estimation, genetic algorithms (GAs) and particle swarm optimisation (PSO) techniques, and combination of estimation and optimisation methods with GARLS. Moreover, the development of PSO with spread factor (PSOSF) and momentum factor (PSOMF) are used to develop suitable model of the flexible manipulator. Furthermore, nonlinear models using multi-layer perceptron (MLP) neural networks (NNs) are developed. These comprise combination GA with inverse NN (GAINN) and PSO with inverse NN (PSOINN). Data from an experimental flexible manipulator system is used to model the system using auto regressive moving average (ARMA) model structure with one-step-ahead prediction.
Download or read book Dynamic Modeling and Vibration Control of a Single-link Flexible Manipulator Using a Combined Linear and Angular Velocity Feedback Controller written by and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of lightweight, thin flexible structures creates a dilemma in the aerospace and robotic industries. While increased operating efficiency and mobility can be achieved by employing such structures, these benefits are compromised by significant structural vibrations due to the increased flexibility. To address this problem, extensive research in the area of vibration control of flexible structures has been performed over the last two decades. The majority of the research has been based on the use of discrete piezoceramic actuators (PZTs) as active dampers, as they are commercial availability and have high force and bandwidth capabilities. Many different active vibration control strategies have previously been proposed, in order to effectively suppress vibrations. The synthesized vibration controllers will be less effective or even make the system to become unstable if the actuator locations and control gains are not chosen properly. However, there is currently no quantitative procedure that deals with these procedures simultaneously. This thesis presents a theoretical and numerical study of vibration control of a singlelink flexible manipulator attached to a rotating hub, with PZTs bonded to the surface of the link. A commercially available fibre optic sensor called ShapeTapeTM is introduced as a new feedback sensing technique, which is complemented by a quantitative and definitive model based procedure for selecting the individual PZT locations and gains. Based on Euler-Bernoulli beam theory, discrete finite element equations are obtained using Lagrange's equations for a PZT-mounted beam element. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed PZT actuator control, which is a composite linear (L-type) and angular (A-type) velocity feedback controller. A Lyapunov approach was used to.
Author : M. Osman Tokhi
Publisher : IET
ISBN 13 : 9780863414480
Total Pages : 592 pages
Book Rating : 4.4/5 (144 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 592 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.
