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Flexible Manipulators

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Flexible Manipulators

Flexible Manipulators Book
Author : Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao
Publisher : Academic Press
Release : 2012-04-16
ISBN : 0123973236
Language : En, Es, Fr & De

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Book Description :

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

Flexible Robot Manipulators

Flexible Robot Manipulators Book
Author : M. Osman Tokhi,Abul K.M. Azad
Publisher : IET
Release : 2008-05-20
ISBN : 0863414486
Language : En, Es, Fr & De

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Book Description :

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.

Perturbation Techniques for Flexible Manipulators

Perturbation Techniques for Flexible Manipulators Book
Author : Anthony R. Fraser,Ron W. Daniel
Publisher : Springer Science & Business Media
Release : 2012-12-06
ISBN : 1461539749
Language : En, Es, Fr & De

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Book Description :

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.

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators Book
Author : Jinkun Liu,Wei He
Publisher : Springer
Release : 2018-04-16
ISBN : 9811083002
Language : En, Es, Fr & De

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Book Description :

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.

Advanced Studies of Flexible Robotic Manipulators

Advanced Studies of Flexible Robotic Manipulators Book
Author : Anonim
Publisher : Unknown
Release : 2023-02-08
ISBN : 9814485845
Language : En, Es, Fr & De

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Book Description :

Download Advanced Studies of Flexible Robotic Manipulators book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Advanced Studies of Flexible Robotic Manipulators

Advanced Studies of Flexible Robotic Manipulators Book
Author : Fei-Yue Wang,Yanqing Gao
Publisher : World Scientific
Release : 2003
ISBN : 9812383905
Language : En, Es, Fr & De

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Book Description :

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.

Control of Flexible link Manipulators Using Neural Networks

Control of Flexible link Manipulators Using Neural Networks Book
Author : H.A. Talebi,R.V. Patel,K. Khorasani
Publisher : Springer Science & Business Media
Release : 2001-01-29
ISBN : 9781852334093
Language : En, Es, Fr & De

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Book Description :

Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.

Robots Manipulators

Robots Manipulators Book
Author : John X. Liu
Publisher : Nova Publishers
Release : 2005
ISBN : 9781594543586
Language : En, Es, Fr & De

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Book Description :

This book deals with control and learning in robotic systems.

Bio inspired Motor Control Strategies for Redundant and Flexible Manipulator with Application to Tooling Tasks

Bio inspired Motor Control Strategies for Redundant and Flexible Manipulator with Application to Tooling Tasks Book
Author : Gia Hoang Phan,Vijender Kumar Solanki,Nguyen Ho Quang
Publisher : Springer Nature
Release : 2022
ISBN : 9811695512
Language : En, Es, Fr & De

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Book Description :

This book presents a multi-disciplinary view of all aspects of rehabilitation robotics and non-invasive surgery, ideal for anyone new to the field. It includes perspectives from both engineers and clinicians. For skilled researchers and clinicians, it also summarizes current robot technologies and their application to various pathologies. The book will help the readers to develop the know-how and expertise necessary to guide those seeking a comprehensive understanding of this topic through their use of several commercial devices for robotic rehabilitation. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation, and validation of robot agents that behave as optimal trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems.

Robot Manipulators

Robot Manipulators Book
Author : Agustin Jimenez,Basil M. Al Hadithi
Publisher : BoD – Books on Demand
Release : 2010-03-01
ISBN : 9533070730
Language : En, Es, Fr & De

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Book Description :

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.

Robot Manipulators

Robot Manipulators Book
Author : Etienne Dombre,Wisama Khalil
Publisher : John Wiley & Sons
Release : 2013-03-01
ISBN : 1118614100
Language : En, Es, Fr & De

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Book Description :

This book presents the most recent research results on modeling andcontrol of robot manipulators. Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models. Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis. Chapter 3 introduces global and local tools forperformance analysis of serial robots. Chapter 4 presents an original optimization techniquefor point-to-point trajectory generation accounting for robotdynamics. Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton-Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.

Robotic Manipulators and Vehicles

Robotic Manipulators and Vehicles Book
Author : Gerasimos Rigatos,Krishna Busawon
Publisher : Springer
Release : 2018-05-24
ISBN : 331977851X
Language : En, Es, Fr & De

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Book Description :

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.

Serial and Parallel Robot Manipulators

Serial and Parallel Robot Manipulators Book
Author : Serdar Küçük
Publisher : BoD – Books on Demand
Release : 2012-03-30
ISBN : 9535104373
Language : En, Es, Fr & De

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Book Description :

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

Advances on Theory and Practice of Robots and Manipulators

Advances on Theory and Practice of Robots and Manipulators Book
Author : Marco Ceccarelli,Victor A. Glazunov
Publisher : Springer
Release : 2014-06-02
ISBN : 3319070584
Language : En, Es, Fr & De

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Book Description :

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.

Robot Manipulators

Robot Manipulators Book
Author : Marco Ceccarelli
Publisher : BoD – Books on Demand
Release : 2008-09-01
ISBN : 9537619060
Language : En, Es, Fr & De

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Book Description :

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.

Modeling and mu synthesis Robust Control of Flexible Manipulators

Modeling and  mu  synthesis Robust Control of Flexible Manipulators Book
Author : Mansour Karkoub
Publisher : Unknown
Release : 1994
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Modeling and mu synthesis Robust Control of Flexible Manipulators book written by Mansour Karkoub, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Control of Single link Flexible Manipulators Fabricated from Advanced Composite Laminates and Smart Materials Incorporating Electro rheological Fluids

Control of Single link Flexible Manipulators Fabricated from Advanced Composite Laminates and Smart Materials Incorporating Electro rheological Fluids Book
Author : Seung-Bok Choi
Publisher : Unknown
Release : 1990
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Control of Single link Flexible Manipulators Fabricated from Advanced Composite Laminates and Smart Materials Incorporating Electro rheological Fluids book written by Seung-Bok Choi, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Parallel Manipulators

Parallel Manipulators Book
Author : Jee-Hwan Ryu
Publisher : BoD – Books on Demand
Release : 2008-04-01
ISBN : 3902613203
Language : En, Es, Fr & De

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Book Description :

Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.

Fractional Modeling and Controller Design of Robotic Manipulators

Fractional Modeling and Controller Design of Robotic Manipulators Book
Author : Abhaya Pal Singh,Dipankar Deb,Himanshu Agrawal,Valentina E. Balas
Publisher : Springer Nature
Release : 2020-10-15
ISBN : 3030582477
Language : En, Es, Fr & De

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Book Description :

This book at hand is an appropriate addition to the field of fractional calculus applied to control systems. If an engineer or a researcher wishes to delve into fractional-order systems, then this book has many collections of such systems to work upon, and this book also tells the reader about how one can convert an integer-order system into an appropriate fractional-order one through an efficient and simple algorithm. If the reader further wants to explore the controller design for the fractional-order systems, then for them, this book provides a variety of controller design strategies. The use of fractional-order derivatives and integrals in control theory leads to better results than integer-order approaches and hence provides solid motivation for further development of control theory. Fractional-order models are more useful than the integer-order models when accuracy is of paramount importance. Real-time experimental validation of controller design strategies for the fractional-order plants is available. This book is beneficial to the academic institutes for postgraduate and advanced research-level that need a specific textbook on fractional control and its applications in srobotic manipulators. The book is also a valuable teaching and learning resource for undergraduate and postgraduate students.

Adaptive Control for Robotic Manipulators

Adaptive Control for Robotic Manipulators Book
Author : Dan Zhang,Bin Wei
Publisher : CRC Press
Release : 2017-02-03
ISBN : 1351678922
Language : En, Es, Fr & De

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Book Description :

The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.