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Flexible-Link Robot Manipulators : Control Techniques and Structural Design - M. Moallem

Flexible-Link Robot Manipulators

Control Techniques and Structural Design

Paperback Published: 22nd September 2000
ISBN: 9781852333331
Number Of Pages: 161

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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.

Introductionp. 1
Tracking Control by Integral Manifoldsp. 31
Decoupling Controlp. 57
Observer-based Decoupling Controlp. 73
Inverse Dynamics Sliding Controlp. 95
Optimum Structure Design for Controlp. 103
Concluding Remarksp. 121
A. Stability Proofsp. 125
B. Kinematic Descriptionp. 137
C. Dynamic Modelsp. 139
Referencesp. 147
Indexp. 157
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9781852333331
ISBN-10: 1852333332
Series: Lecture Notes in Control and Information Sciences
Audience: General
Format: Paperback
Language: English
Number Of Pages: 161
Published: 22nd September 2000
Country of Publication: GB
Dimensions (cm): 22.96 x 15.55  x 1.47
Weight (kg): 0.27