This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques; a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and software environments for analysis, design, simulation and control of flexible manipulators. Flexible manipulators - an overview / M.O. Tokhi [und weitere] -- Modelling of a single-link flexible manipulator system: Theoretical and practical investigations / A.K.M. Azad, M.O. Tokhi -- Classical mechanics approach of modelling multi-link flexible manipulators / J. Sá da Costa, J.M. Martins, M.A. Botto -- Parametric and non-parametric modelling of flexible manipulators / M.H. Shaheed, M.O. Tokhi -- Finite difference and finite element simulation of flexible manipulators / A.K.M. Azad [und weitere] -- Dynamic characterisation of flexible manipulators using symbolic manipulation / Z. Mohamed, M.O. Tokhi, H.R. Pota -- Flexible space manipulators: modelling, simulation, ground validation and space operation / C. Lange [und weitere] -- Open-loop control of flexible manipulators using command-generation techniques / A.K.M. Azad [und weitere] -- Control of flexible manipulators with input shaping techniques / W.E. Singhose, W.P. Seering -- Enhanced PID-type classical control of flexible manipulators / S.P. Goh, M.D. Brown -- Force and position control of flexible manipulators / B. Siciliano, L. Villani -- Collocated and non-collocated control of flexible manipulators / M.O. Tokhi [und weitere] -- Decoupling control of flexible manipulators / G. Fernández, J.C. Grieco, M. Armada -- Modelling and control of space manipulators with flexible links / K. Senda -- Soft computing approaches for control of a flexible manipulator / S.K. Sharma [und weitere] -- Modelling and control of smart material flexible manipulators / Z.P. Wang, S.S. Ge, T.H. Lee -- Modelling and control of rigid-flexible manipulators / A.S. Yigit -- Analysis and design environment for flexible manipulators / O. Ravn, N.K. Poulsen -- SCEFMAS - An environment for simulation and control of flexible manipulator systems / M.O. Tokhi [und weitere] Flexible manipulators - an overview / M. O. Tokhi ... [et al.] Modelling of a single-link flexible manipulator system: Theoretical and practical investigations / A. K. M. Azad, M. O. Tokhi Classical mechanics approach of modelling multi-link flexible manipulators / J. Sá da Costa, J. M. Martins, M. A. Botto Parametric and non-parametric modelling of flexible manipulators / M. H. Shaheed, M. O. Tokhi Finite difference and finite element simulation of flexible manipulators / A. K. M. Azad ... [et al.] Dynamic characterisation of flexible manipulators using symbolic manipulation / Z. Mohamed, M. O. Tokhi, H. R. Pota Flexible space manipulators: modelling, simulation, ground validation and space operation / C. Lange ... [et al.] Open-loop control of flexible manipulators using command-generation techniques / A. K. M. Azad ... [et al.] Control of flexible manipulators with input shaping techniques / W. E. Singhose, W. P. Seering Enhanced PID-type classical control of flexible manipulators / S. P. Goh, M. D. Brown Force and position control of flexible manipulators / B. Siciliano, L. Villani Collocated and non-collocated control of flexible manipulators / M. O. Tokhi ... [et al.] Decoupling control of flexible manipulators / G. Fernández, J. C. Grieco, M. Armada Modelling and control of space manipulators with flexible links / K. Senda Soft computing approaches for control of a flexible manipulator / S. K. Sharma ... [et al.] Modelling and control of smart material flexible manipulators / Z. P. Wang, S. S. Ge, T. H. Lee Modelling and control of rigid-flexible manipulators / A. S. Yigit Analysis and design environment for flexible manipulators / O. Ravn, N. K. Poulsen SCEFMAS - An environment for simulation and control of flexible manipulator systems / M. O. Tokhi ... [et al.].
The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation. Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts. Flexural dynamics have constituted the main research challenge in modelling and control of such systems; research activities have accordingly concentrated on the development of methodologies to cope with this.
The book reports recent and new developments in modelling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: (i) a range of modelling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, and neuro-modelling approaches; (ii) numerical modelling/ simulation techniques for dynamic characterisation of flexible manipulators using the finite difference, finite element, symbolic manipulation and customised software techniques; (iii) a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and (iv) software environments for analysis, design, simulation and control of flexible manipulators.
The book can serve as a teaching resource as well as a reference text for research.
Content: Front Matter • Abbreviations • Notations • Preface • Table of Contents 1. Flexible Manipulators - An Overview 2. Modelling of a Single-Link Flexible Manipulator System: Theoretical and Practical Investigations 3. Classical Mechanics Approach of Modelling Multi-Link Flexible Manipulators 4. Parametric and Non-Parametric Modelling of Flexible Manipulators 5. Finite Difference and Finite Element Simulation of Flexible Manipulators 6. Dynamic Characterisation of Flexible Manipulators Using Symbolic Manipulation 7. Flexible Space Manipulators: Modelling, Simulation, Ground Validation and Space Operation 8. Open-Loop Control of Flexible Manipulators Using Command-Generation Techniques 9. Control of Flexible Manipulators with Input Shaping Techniques 10. Enhanced PID-Type Classical Control of Flexible Manipulators 11. Force and Position Control of Flexible Manipulators 12. Collocated and Non-Collocated Control of Flexible Manipulators 13. Decoupling Control of Flexible Manipulators 14. Modelling and Control of Space Manipulators with Flexible Links 15. Soft Computing Approaches for Control of a Flexible Manipulator 16. Modelling and Control of Smart Material Flexible Manipulators 17. Modelling and Control of Rigid-Flexible Manipulators 18. Analysis and Design Environment for Flexible Manipulators 19. SCEFMAS - An Environment for Simulation and Control of Flexible Manipulator Systems • References Index The book reports recent and new developments in modelling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: (i) a range of modelling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, and neuro-modelling approaches; (ii) numerical modelling/simulation techniques for dynamic characterisation of flexible manipulators using the finite difference, finite element, symbolic manipulation and customised software techniques; (iii) a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and (iv) software environments for analysis, design, simulation and control of flexible manipulators."--Publisher description The material in this book is presented in four distinct components: Modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches. Numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques. Open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators. Software environments for analysis, design, simulation and control of flexible manipulators. The book has 19 chapters and deals with the following subjects: single-link flexible manipulators; multi-link flexible manipulator; finite difference simulation; finite element simulation; symbolic manipulation; flexible space manipulators; open-loop control; enhanced PID control; force control; position control; collocated control; noncollocated control; decoupling control; soft computing approach; smart material flexible manipulators; rigid flexible manipulators and SCEFMAS
