Dynamic Analysis Of A Manipulator With Two Flexible Arms

Author : Djamel Bensahal,Mohamed Nadir Amrane,Foued Chabane
Publisher : LAP Lambert Academic Publishing
Page : 64 pages
File Size : 46,7 Mb
Release : 2013
Category : Electronic
ISBN : 3659384860

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Dynamic Analysis of a Manipulator with Two Flexible Arms by Djamel Bensahal,Mohamed Nadir Amrane,Foued Chabane Pdf

The objective of this book is to show the effect of flexible arm studied by dynamic analysis of a robot manipulator with two flexible arms. The book has been established for the undergraduate upper-levels and graduate level in Mechanical Engineering. Clearly, it is desirable to build lightweight robot arms which have a large working volume, high mobility and the capability to carry heavy payloads. In order to meet these requirements, the robot arm has to be flexible, in other words, the rigid-body-assumption in robotics has to be abandoned. Then, the deflection and vibration of the robot arm present a severe problem to the accuracy and the stability in positioning. Therefore, the control of flexible manipulators is becoming a critical issue in robotics. Modal analysis can improve physical knowledge of a structure and in some cases give us much information about its behaviour during operating. The calculation of the natural frequencies of the structure by modal analysis becomes today an important step in its design.

Author : Kshetrimayum Lochan,Binoy Krishna Roy,Bidyadhar Subudhi,Santhakumar Mohan
Publisher : CRC Press
Page : 262 pages
File Size : 43,6 Mb
Release : 2024-10-13
Category : Technology & Engineering
ISBN : 9781040152263

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Robust Control Algorithms for Two-link Flexible Manipulators by Kshetrimayum Lochan,Binoy Krishna Roy,Bidyadhar Subudhi,Santhakumar Mohan Pdf

Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.

Author : Thi Dieu Linh Nguyen,Joan Lu
Publisher : Springer Nature
Page : 323 pages
File Size : 42,9 Mb
Release : 2023-03-01
Category : Technology & Engineering
ISBN : 9789811964503

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Machine Learning and Mechanics Based Soft Computing Applications by Thi Dieu Linh Nguyen,Joan Lu Pdf

This book highlights recent advances in the area of machine learning and robotics-based soft computing applications. The book covers various artificial intelligence, machine learning, and mechanics, a mix of mechanical computational engineering work. The current computing era has a huge market/potential for machine learning, robotics, and soft computing techniques and their applications. With this in view, the book shares latest research and cutting-edge applications useful for professionals and researchers in these areas. ​

Author : National Aeronautics and Space Administration (NASA)
Publisher : Createspace Independent Publishing Platform
Page : 32 pages
File Size : 50,8 Mb
Release : 2018-07-03
Category : Electronic
ISBN : 1722184310

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Dynamic Analysis of a Two Member Manipulator Arm by National Aeronautics and Space Administration (NASA) Pdf

Attenuating start-up and stopping vibrations when maneuvering large payloads attached to flexible manipulator systems is a great concern for many space missions. To address this concern, it was proposed that the use of smart materials, and their applications in smart structures, may provide an effective method of control for aerospace structures. In this paper, a modified finite element model has been developed to simulate the performance of piezoelectric ceramic actuators, and was applied to a flexible two-arm manipulator system. Connected to a control voltage, the piezoelectric actuators produce control moments based on the optimal control theory. The computer simulation modeled the end-effector vibration suppression of the NASA manipulator testbed for berthing operations of the Space Shuttle to the Space Station. The results of the simulation show that the bonded piezoelectric actuators can effectively suppress follow-up vibrations of the end-effector, stimulated by some external disturbance. McGinley, Mark and Shen, Ji Y. Langley Research Center NAG1-1997...

Author : Octavio Maizza Neto
Publisher : Unknown
Page : 450 pages
File Size : 54,7 Mb
Release : 1974
Category : Automatic control
ISBN : STANFORD:36105030188838

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Modal Analysis and Control of Flexible Manipulator Arms by Octavio Maizza Neto Pdf

Author : JIE HUANG
Publisher : CRC Press
Page : 413 pages
File Size : 51,5 Mb
Release : 2022-10-04
Category : Science
ISBN : 9781000713282

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Nonlinear Dynamics and Vibration Control of Flexible Systems by JIE HUANG Pdf

This book is an essential guide to nonlinear dynamics and vibration control, detailing both the theory and the practical industrial applications within all aspects of engineering. Demonstrating how to improve efficiency through reducing unwanted vibration, it will aid both students and engineers in practically and safely improving flexible structures through control methods. Increasing demand for light-weight robotic systems and space applications has actuated the design and construction of more flexible structures. These flexible structures, involving numerous dynamic systems, experience unwanted vibrations, impacting accuracy, operating speed, safety and, importantly, efficiency. This book aids engineers in assuaging this issue through vibration control methods, including nonlinear dynamics. It covers topics such as dynamic modeling of nonlinear system, nonlinear oscillators, and modal analyses of multiple-mode system. It also looks at vibration control methods including linear control, nonlinear control, intelligent control, and command smoothers. These control methods are effective and reliable methods to counteract unwanted vibrations. The book is practically minded, using industrial applications throughout, such as bridge cranes, tower cranes, aerial cranes and liquid sloshing. It also discusses cable-suspension structures, light-weight links, and fluid motions which exhibit flexible-structure dynamics. The book will be of interest to students and engineers alike, in the field of mechatronics, mechanical systems and signal processing, nonlinear dynamics, vibration, and control engineering.

Author : Anonim
Publisher : Unknown
Page : 400 pages
File Size : 46,5 Mb
Release : 1948
Category : Mechanics, Applied
ISBN : OSU:32435026160655

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Applied mechanics reviews by Anonim Pdf

Author : Concepción A. Monje,YangQuan Chen,Blas M. Vinagre,Dingyu Xue,Vicente Feliu-Batlle
Publisher : Springer Science & Business Media
Page : 430 pages
File Size : 48,7 Mb
Release : 2010-09-28
Category : Technology & Engineering
ISBN : 9781849963350

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Fractional-order Systems and Controls by Concepción A. Monje,YangQuan Chen,Blas M. Vinagre,Dingyu Xue,Vicente Feliu-Batlle Pdf

Fractional-order Systems and Controls details the use of fractional calculus in the description and modeling of systems, and in a range of control design and practical applications. It is largely self-contained, covering the fundamentals of fractional calculus together with some analytical and numerical techniques and providing MATLAB® codes for the simulation of fractional-order control (FOC) systems. Many different FOC schemes are presented for control and dynamic systems problems. Practical material relating to a wide variety of applications is also provided. All the control schemes and applications are presented in the monograph with either system simulation results or real experimental results, or both. Fractional-order Systems and Controls provides readers with a basic understanding of FOC concepts and methods, so they can extend their use of FOC in other industrial system applications, thereby expanding their range of disciplines by exploiting this versatile new set of control techniques.

Author : G. G. Leininger
Publisher : Elsevier
Page : 715 pages
File Size : 55,9 Mb
Release : 2014-05-16
Category : Computers
ISBN : 9781483146881

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Computer Aided Design of Multivariable Technological Systems by G. G. Leininger Pdf

Computer Aided Design of Multivariable Technological Systems covers the proceedings of the Second International Federation of Automatic Control (IFAC). The book reviews papers that discuss topics about the use of Computer Aided Design (CAD) in designing multivariable system, such as theoretical issues, applications, and implementations. The book tackles several topics relevant to the use of CAD in designing multivariable systems. Topics include quasi-classical approach to multivariable feedback system designs; fuzzy control for multivariable systems; root loci with multiple gain parameters; multivariable frequency domain stability criteria; and computational algorithms for pole assignment in linear multivariable systems. The text will be of great use to professionals whose work involves designing and implementing multivariable systems.

Author : Michael L. Mains,Brandon J. Dilworth
Publisher : Springer
Page : 376 pages
File Size : 55,9 Mb
Release : 2019-05-14
Category : Technology & Engineering
ISBN : 9783030126841

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Topics in Modal Analysis & Testing, Volume 8 by Michael L. Mains,Brandon J. Dilworth Pdf

Topics in Modal Analysis & Testing, Volume 8: Proceedings of the 37th IMAC, A Conference and Exposition on Structural Dynamics, 2019, the eighth volume of eight from the Conference brings together contributions to this important area of research and engineering. The collection presents early findings and case studies on fundamental and applied aspects of Modal Analysis, including papers on: Analytical Methods Modal Applications Basics of Modal Analysis Experimental Techniques Multi Degree of Freedom Testing Boundary Conditions in Environmental Testing Operational Modal Analysis Modal Parameter Identification Novel Techniques

Author : Fei-Yue Wang
Publisher : World Scientific
Page : 464 pages
File Size : 49,8 Mb
Release : 2003
Category : Technology & Engineering
ISBN : 981279672X

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Advanced Studies of Flexible Robotic Manipulators by Fei-Yue Wang Pdf

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 : Jundong Wu,Pan Zhang,Qingxin Meng,Yawu Wang
Publisher : Springer Nature
Page : 304 pages
File Size : 47,8 Mb
Release : 2023-05-13
Category : Technology & Engineering
ISBN : 9789819908905

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Control of Underactuated Manipulators by Jundong Wu,Pan Zhang,Qingxin Meng,Yawu Wang Pdf

This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

Author : Agustin Jimenez,Basil M. Al Hadithi
Publisher : BoD – Books on Demand
Page : 680 pages
File Size : 46,5 Mb
Release : 2010-03-01
Category : Technology & Engineering
ISBN : 9789533070735

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Robot Manipulators by Agustin Jimenez,Basil M. Al Hadithi Pdf

This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Author : Anonim
Publisher : Unknown
Page : 892 pages
File Size : 43,9 Mb
Release : 1994
Category : Aeronautics
ISBN : UIUC:30112005547648

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Scientific and Technical Aerospace Reports by Anonim Pdf

Author : Xingjian Jing,Hu Ding,Jiqiang Wang
Publisher : Springer Nature
Page : 1210 pages
File Size : 55,9 Mb
Release : 2021-09-23
Category : Technology & Engineering
ISBN : 9789811659126

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Advances in Applied Nonlinear Dynamics, Vibration and Control -2021 by Xingjian Jing,Hu Ding,Jiqiang Wang Pdf

This book is to provide readers with up-to-date advances in applied and interdisciplinary engineering science and technologies related to nonlinear dynamics, vibration, control, robotics, and their engineering applications, developed in the most recent years. All the contributed chapters come from active scholars in the area, which cover advanced theory & methods, innovative technologies, benchmark experimental validations and engineering practices. Readers would benefit from this state-of-the-art collection of applied nonlinear dynamics, in-depth vibration engineering theory, cutting-edge control methods and technologies, and definitely find stimulating ideas for their on-going R&D work. This book is intended for graduate students, research staff and scholars in academics, and also provides useful hand-up guidance for professional and engineers in practical engineering missions.