Perturbation Techniques In The Dynamics And Control Of Flexible Manipulators
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Perturbation Techniques In The Dynamics And Control Of Flexible Manipulators
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Author : A. R. Fraser
language : en
Publisher:
Release Date : 1988
Perturbation Techniques In The Dynamics And Control Of Flexible Manipulators written by A. R. Fraser and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Automatic control categories.
Perturbation Techniques In The Dynamics And Control Of Flexible Manipulators
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Author : A. R. Fraser
language : en
Publisher:
Release Date : 1988
Perturbation Techniques In The Dynamics And Control Of Flexible Manipulators written by A. R. Fraser and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988 with Automatic control categories.
Perturbation Techniques For Flexible Manipulators
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Author : Anthony R. Fraser
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Perturbation Techniques For Flexible Manipulators written by Anthony R. Fraser and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1992
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992 with Aeronautics categories.
Flexible Manipulators
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Author : Yanqing Gao
language : en
Publisher: Academic Press
Release Date : 2012-04-16
Flexible Manipulators written by Yanqing Gao and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-04-16 with Technology & Engineering categories.
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
Technology For Large Space Systems
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Author :
language : en
Publisher:
Release Date : 1987
Technology For Large Space Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987 with Large space structures (Astronautics) categories.
Robots Manipulators
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Author : John X. Liu
language : en
Publisher: Nova Publishers
Release Date : 2005
Robots Manipulators written by John X. Liu and has been published by Nova Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Technology & Engineering categories.
This book deals with control and learning in robotic systems.
Flexible Robot Manipulators
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Author : M. Osman Tokhi
language : en
Publisher: IET
Release Date : 2008-05-20
Flexible Robot Manipulators written by M. Osman Tokhi and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-20 with Technology & Engineering categories.
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.
Virtual Decomposition Control
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Author : Wen-Hong Zhu
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-03-29
Virtual Decomposition Control written by Wen-Hong Zhu and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-29 with Technology & Engineering categories.
Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis. The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty. This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow. This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.
Finite Frequency Analysis And Synthesis For Singularly Perturbed Systems
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Author : Chenxiao Cai
language : en
Publisher: Springer
Release Date : 2016-09-28
Finite Frequency Analysis And Synthesis For Singularly Perturbed Systems written by Chenxiao Cai and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-09-28 with Technology & Engineering categories.
This book is a self-contained collection of recent research findings providing a comprehensive and systematic unified framework for both analysis and synthesis for singularly perturbed systems. It paves the way for the gap between frequency-domain-transfer-function-based results and time-domain-state-space-based results to be bridged. It is divided into three parts focusing on: fundamental background of singular perturbation; general singular perturbation methodologies and time-scale techniques and the theoretical foundation of finite-frequency control; the analysis and synthesis of singularly perturbed systems; and real-world engineering applications implementing the results developed in systems like wind turbines and autonomous-aerial-vehicle hovering. It also presents solutions to analysis and design problems in terms of linear matrix inequalities. Lastly, it provides valuable reference material for researchers who wish to explore the design of controllers for such systems.