Robust Control Algorithms For Flexible Manipulators
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Robust Control Algorithms For Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher: CRC Press
Release Date : 2024-10-13
Robust Control Algorithms For Flexible Manipulators written by Kshetrimayum Lochan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-13 with Technology & Engineering categories.
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.
Robust Control Algorithms For Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher:
Release Date : 2025
Robust Control Algorithms For Flexible Manipulators written by Kshetrimayum Lochan and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025 with Automatic control categories.
"In this book "Design of robust Control Algorithms for a Two-link Flexible Manipulator" various modelling and control of a two-link flexible manipulators are presented. The lumped parameter modelling method and the assumed modes method modelling are properly reviewed. The trajectory tracking problem and tip trajectory tracking problem are considered along with the suppression of tip deflection of the links. An exponentially 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. Various synchronisation techniques such as generalised projective synchronisation, projective synchronisation with scaled and complete projections are considered. The synchronisation between the lumped parameter and assumed modes method are used for the master and slave. Various types of control techniques are also used such as conventional sliding mode control, modified sliding mode control, state feedback controller, adaptive global sliding mode control, adaptive time-varying super-twisting sliding mode control, etc. Also, singular perturbations are used for the segregation of modelling in terms of slow and fast subsystems using singular perturbations"--
Robust Control Algorithms For Two Link Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher: CRC Press
Release Date : 2024-10-13
Robust Control Algorithms For Two Link Flexible Manipulators written by Kshetrimayum Lochan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-13 with Technology & Engineering categories.
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.
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.
Algorithms And Architectures For Real Time Control 1992
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Author : P.J. Fleming
language : en
Publisher: Elsevier
Release Date : 2014-05-23
Algorithms And Architectures For Real Time Control 1992 written by P.J. Fleming and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-23 with Technology & Engineering categories.
This Workshop focuses on such issues as control algorithms which are suitable for real-time use, computer architectures which are suitable for real-time control algorithms, and applications for real-time control issues in the areas of parallel algorithms, multiprocessor systems, neural networks, fault-tolerance systems, real-time robot control identification, real-time filtering algorithms, control algorithms, fuzzy control, adaptive and self-tuning control, and real-time control applications.
Advanced Studies Of Flexible Robotic Manipulators Modeling Design Control And Applications
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Author : Yanqing Gao
language : en
Publisher: World Scientific
Release Date : 2003-08-14
Advanced Studies Of Flexible Robotic Manipulators Modeling Design Control And Applications written by Yanqing Gao and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-08-14 with Technology & Engineering categories.
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.
Modelling And Control Of Robot Manipulators
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2001-02-19
Modelling And Control Of Robot Manipulators written by Lorenzo Sciavicco 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 2001-02-19 with Technology & Engineering categories.
Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1995
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 1995 with Aeronautics categories.
Technology For Large Space Systems
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Author :
language : en
Publisher:
Release Date : 1989
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 1989 with Large space structures (Astronautics) categories.
Ramsete
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Author : Salvatore Nicosia
language : en
Publisher: Springer
Release Date : 2003-07-01
Ramsete written by Salvatore Nicosia and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-07-01 with Technology & Engineering categories.
Robotics applications, initially developed for industrial and manufacturing contexts, are now strongly present in several elds. Besides well-known space and high-technology applications, robotics for every day life and medical s- vices is becoming more and more popular. As an example, robotic manipu- tors are particularly useful in surgery and radiation treatments, they could be employed for civil demining, for helping disabled people, and ultimately for domestic tasks, entertainment and education. Such a kind of robotic app- cations require the integration of many di erent skills. Autonomous vehicles and mobile robots in general must be integrated with articulated manipu- tors. Many robotic technologies (sensors, actuators and computing systems) must be properly used with speci c technologies (localisation, planning and control technologies). The task of designing robots for these applications is a hard challenge: a speci c competence in each area is demanded, in the e ort of a truly integrated multidisciplinary design.