Advanced studies of flexible robotic manipulators : modeling, design, control, and applications / [edited by] Fei-Yue Wang, Yanqing Gao.

Format:

Book

Contributor:

Wang, Fei-Yue.

Gao, Yanqing, 1962-

Series:

Series in intelligent control and intelligent automation ; v. 4.

Series in intelligent control and intelligent automation ; vol. 4

Language:

English

Subjects (All):

Robotics.

Manipulators (Mechanism).

Physical Description:

1 online resource (457 p.)

Edition:

1st ed.

Other Title:

Flexible robotic manipulators

Place of Publication:

River Edge, NJ : World Scientific, c2003.

Language Note:

English

Summary:

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 educat

Contents:

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

Notes:

Description based upon print version of record.

Includes bibliographical references.

ISBN:

9786611956110

9781281956118

1281956112

9789812796721

981279672X

OCLC:

879074195