Advanced Studies of Flexible Robotic Manipulators : Modeling, Design, Control and Applications.
Başlık:
Advanced Studies of Flexible Robotic Manipulators : Modeling, Design, Control and Applications.
Yazar:
Wang, Fei-Yue.
ISBN:
9789812796721
Yazar Ek Girişi:
Fiziksel Tanımlama:
1 online resource (457 pages)
Seri:
Series in Intelligent Control and Intelligent Automation ; v.4
Series in Intelligent Control and Intelligent Automation
İçerik:
Contents -- Preface -- Contributing Authors -- 1. Flexible-link Manipulators: Modeling Nonlinear Control and Observer -- 1.1 Introduction -- 1.2 Modeling -- 1.3 Nonlinear Control -- 1.4 Control with Nonlinear Observer -- 1.5 Simulation Results -- 1.6 Conclusion -- 2. Energy-Based Robust Control of Flexible Link Robots -- 2.1 Introduction -- 2.2 Dynamics of a Single-link Flexible Robot -- 2.3 Controller Design -- 2.4 Multi-link Flexible Robots -- 2.5 Conclusion -- 3. Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials -- 3.1 Introduction -- 3.2 Efficient Trajectory Planning Using Optimal Bending Model -- 3.3 Compliant Control -- 3.4 Stability Analysis -- 3.5 Experimental Study -- 3.6 Conclusions -- References -- 4. Force Control of Flexible Manipulators -- 4.1 Introduction -- 4.2 Force Control of A One-Link Flexible Arm -- 4.3 Dynamic Hybrid Position/ Force Control of Constrained n-Link Flexible Manipulators -- 4.4 Robust Cooperative Control of Two One-link Flexible Arms -- 4.5 Conclusion -- References -- 5. Experimental Study on the Control of Flexible Link Robots -- 5.1 SFL Manipulator -- 5.2 Multi-Link/Multi-Axis Flexible Link (MMFL) Manipulators -- 5.3 Force Control -- References -- 6. Sensor Output Feedback Control of Flexible Robot Arms -- 6.1 Introduction -- 6.2 Dynamic Models of One-Link Flexible Robot Arms -- 6.3 Sensor Output Feedback Control -- 6.4 Experimental Results -- 6.5 Conclusions -- References -- 7. On GA Based Robust Control of Flexible Manipulators -- 7.1 Introduction -- 7.2 Dynamic Model of One-Link Flexible Manipulators -- 7.3 Mixed H2/Hoo Robust PID Control -- 7.4 Improved GA Method for Mixed H2/Hoo Robust PD Control Design -- 7.5 Mixed Sensitivity Hoo Control Problem -- 7.6 GA Method for Mixed Sensitivity Hoo Control Design -- 7.7 Conclusion -- References.
8. Analysis of Poles and Zeros for Tapered Link Designs -- 8.1 Introduction -- 8.2 Nonminimum Phase Systems -- 8.3 Transfer Matrix Method -- 8.4 Results -- 8.5 Conclusions -- References -- 9. Optimum Shape Design of Flexible Manipulators with Tip Loads -- 9.1 Introduction -- 9.2 Euler-Bernolli Equations -- 9.3 Analytical Solution -- 9.4 Optimization Approach -- 9.5 Multiple Tip Load / Multiple Link Designs -- 9.6 Sensitivity Analysis -- 9.7 Conclusion -- References -- 10. Mechatronic Design of Flexible Manipulators -- 10.1 Introduction -- 10.2 Dynamics of Flexible Manipulators -- 10.3 Case I: Mechatronic Design Based on LQR Formula with IHR Programming -- 10.4 Case II: Mechatronic Design of Flexible Manipulators-Based on Hoo Controller with IHR Algorithm -- 10.5 Conclusion -- References -- 11. A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis -- 11.1 Introduction -- 11.2 Problem Description and Energy Calculations -- 11.3 Derivation of Equations of Motion -- 11.4 Linearization -- 11.5 Natural Frequencies and Model Shape Functions -- 11.6 Step Responses and General Solutions -- 11.7 Conclusion -- References.
Özet:
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.
Notlar:
Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2017. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.
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