Flexible-link Robot Manipulators

Control Techniques and Structural Design

M. Moallem, Rajni V. Patel, K. Khorasani (Autoren)

Buch | Softcover

161 Seiten

2000
Springer London Ltd (Verlag)
978-1-85233-333-1 (ISBN)

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This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear observers and sliding control.
The study of dynamic properties and control techniques for flexible-link manipulators can also be a framework for designing the mechanical shape and material of these systems such that improved properties can be achieved in order to facilitate the control problem. Therefore, structural shape optimization is considered as a means of improving the dynamic behaviour of flexible-link manipulators.

Tracking control by integral manifolds.- Decoupling control.- Observer-based decoupling control.- Inverse dynamics sliding control.- Optimum structure design for control.- Concluding remarks.

Erscheint lt. Verlag	22.9.2000
Reihe/Serie	Lecture Notes in Control and Information Sciences ; 257
Zusatzinfo	XI, 161 p.
Verlagsort	England
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
ISBN-10	1-85233-333-2 / 1852333332
ISBN-13	978-1-85233-333-1 / 9781852333331
Zustand	Neuware