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portada flexible-link robot manipulators: control techniques and structural design
Type
Physical Book
Author
Publisher
Year
2000
Language
English
Pages
161
Format
Paperback
Dimensions
23x15.5x1.5 cm
Weight
0.27 kg.
ISBN
1852333332
ISBN13
9781852333331
Categories

flexible-link robot manipulators: control techniques and structural design

M. Moallem (Author) · Rajni V. Patel (Author) · K. Khorasani (Author) · Springer · Paperback

flexible-link robot manipulators: control techniques and structural design - Moallem, M. ; Patel, Rajni V. ; Khorasani, K.

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Synopsis "flexible-link robot manipulators: control techniques and structural design"

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.

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