Flexible Manipulators

Author : Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao
Publisher : Academic Press
Page : 260 pages
File Size : 40,5 Mb
Release : 2012-04-16
Category : Computers
ISBN : 9780123973238

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Flexible Manipulators by Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao Pdf

The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere

Author : M. Osman Tokhi,Abul K.M. Azad
Publisher : IET
Page : 579 pages
File Size : 43,9 Mb
Release : 2008-05-20
Category : Technology & Engineering
ISBN : 9780863414480

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Flexible Robot Manipulators by M. Osman Tokhi,Abul K.M. Azad Pdf

This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.

Author : Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao
Publisher : Academic Press
Page : 269 pages
File Size : 45,8 Mb
Release : 2012-04-12
Category : Computers
ISBN : 9780123970367

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Flexible Manipulators by Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao Pdf

The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere

Author : Anthony R. Fraser,Ron W. Daniel
Publisher : Springer Science & Business Media
Page : 284 pages
File Size : 55,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9781461539742

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Perturbation Techniques for Flexible Manipulators by Anthony R. Fraser,Ron W. Daniel Pdf

A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.

Author : Fei-Yue Wang,Yanqing Gao
Publisher : World Scientific
Page : 457 pages
File Size : 50,5 Mb
Release : 2003
Category : Technology & Engineering
ISBN : 9789812383907

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Advanced Studies of Flexible Robotic Manipulators by Fei-Yue Wang,Yanqing Gao 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.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 53,6 Mb
Release : 2024-06-13
Category : Electronic
ISBN : 9789814485845

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Advanced Studies of Flexible Robotic Manipulators by Anonim Pdf

Author : John X. Liu
Publisher : Nova Publishers
Page : 254 pages
File Size : 48,7 Mb
Release : 2005
Category : Technology & Engineering
ISBN : 1594543585

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Robots Manipulators by John X. Liu Pdf

This book deals with control and learning in robotic systems.

Author : Jinkun Liu,Wei He
Publisher : Springer
Page : 154 pages
File Size : 41,7 Mb
Release : 2018-04-16
Category : Technology & Engineering
ISBN : 9789811083006

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Distributed Parameter Modeling and Boundary Control of Flexible Manipulators by Jinkun Liu,Wei He Pdf

The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level.

Author : Agustin Jimenez,Basil M. Al Hadithi
Publisher : BoD – Books on Demand
Page : 680 pages
File Size : 44,7 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 : Etienne Dombre,Wisama Khalil
Publisher : John Wiley & Sons
Page : 304 pages
File Size : 42,6 Mb
Release : 2013-03-01
Category : Technology & Engineering
ISBN : 9781118614105

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Robot Manipulators by Etienne Dombre,Wisama Khalil Pdf

This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Author : Jundong Wu,Pan Zhang,Qingxin Meng,Yawu Wang
Publisher : Springer Nature
Page : 304 pages
File Size : 48,8 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 : Gerasimos Rigatos,Krishna Busawon
Publisher : Springer
Page : 734 pages
File Size : 43,7 Mb
Release : 2018-05-24
Category : Technology & Engineering
ISBN : 9783319778518

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Robotic Manipulators and Vehicles by Gerasimos Rigatos,Krishna Busawon Pdf

This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Author : Serdar Küçük
Publisher : BoD – Books on Demand
Page : 472 pages
File Size : 51,6 Mb
Release : 2012-03-30
Category : Computers
ISBN : 9789535104377

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Serial and Parallel Robot Manipulators by Serdar Küçük Pdf

The robotics is an important part of modern engineering and is related to a group of branches such as electric

Author : Marco Ceccarelli
Publisher : BoD – Books on Demand
Page : 558 pages
File Size : 53,8 Mb
Release : 2008-09-01
Category : Technology & Engineering
ISBN : 9789537619060

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Robot Manipulators by Marco Ceccarelli Pdf

In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.

Author : Marco Ceccarelli,Victor A. Glazunov
Publisher : Springer
Page : 573 pages
File Size : 47,9 Mb
Release : 2014-06-02
Category : Technology & Engineering
ISBN : 9783319070582

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Advances on Theory and Practice of Robots and Manipulators by Marco Ceccarelli,Victor A. Glazunov Pdf

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2014, the 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2014 is the twentieth event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community. Proceedings volumes of ROMANSY have been always published to be available, also after the symposium, to a large public of scholars and designers with the aim to give an overview of new advances and trends in the theory, design and practice of robots. This proceedings volume, like previous ones of the series, contains contributions with achievements covering many fields of Robotics as Theory and Practice of Robots and Manipulators that can be an inspiration for future developments.