Flexible Robot Manipulators : Modelling, Simulation and Control

Tokhi, M. O.; Azad, A. K. M.

ISBN 10: 1849195838 / ISBN 13: 9781849195836

Editore: The Institution of Engineering and Technology, 2017

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Dati bibliografici

• Titolo: Flexible Robot Manipulators : Modelling, Simulation and Control
• Editore: The Institution of Engineering and Technology
• Data di pubblicazione: 2017
• Lingua: Inglese
• ISBN 10: 1849195838
• ISBN 13: 9781849195836
• Rilegatura: Rilegato
• Edizione: seconda edizione
• Condizione: New

Descrizione articolo

Riassunto

Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators.

After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element techniques. Control techniques are then discussed, including a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control, and a range of soft-computing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Finally the book presents SCEFMAS, a software environment for analysis, design, simulation and control of flexible manipulators.

Flexible Robot Manipulators is essential reading for advanced students of robotics, mechatronics and control engineering and will serve as a source of reference for research in areas of modelling, simulation and control of dynamic flexible structures in general and, specifically, of flexible robotic manipulators.

L'autore

M. Osman Tokhi is based at the Department of Automatic Control and Systems Engineering at The University of Sheffield.

Abdul K. M. Azad is based at the Department of Technology, Northern Illinois University.