Flexible robot manipulators : modelling, simulation and control
著者
書誌事項
Flexible robot manipulators : modelling, simulation and control
（IEE control engineering series, 68）
Institution of Engineering and Technology, 2008
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注記
Includes bibliographical references (p. [501]-542) and index
収録内容
- 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.]
内容説明・目次
内容説明
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.
目次
Chapter 1: Flexible manipulators - an overview
Chapter 2: Modelling of a single-link flexible manipulator system: Theoretical and practical investigations
Chapter 3: Classical mechanics approach of modelling multi-link flexible manipulators
Chapter 4: Parametric and non-parametric modelling of flexible manipulators
Chapter 5: Finite difference and finite element simulation of flexible manipulators
Chapter 6: Dynamic characterisation of flexible manipulators using symbolic manipulation
Chapter 7: Flexible space manipulators: Modelling, simulation, ground validation and space operation
Chapter 8: Open-loop control of flexible manipulators using command-generation techniques
Chapter 9: Control of flexible manipulators with input shaping techniques
Chapter 10: Enhanced PID-type classical control of flexible manipulators
Chapter 11: Force and position control of flexible manipulators
Chapter 12: Collocated and non-collocated control of flexible manipulators
Chapter 13: Decoupling control of flexible manipulators
Chapter 14: Modelling and control of space manipulators with flexible links
Chapter 15: Soft computing approaches for control of a flexible manipulator
Chapter 16: Modelling and control of smart material flexible manipulators
Chapter 17: Modelling and control of rigid-flexible manipulators
Chapter 18: Analysis and design environment for flexible manipulators
Chapter 19: SCEFMAS - An environment for simulation and control of flexible manipulator systems
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