Atti della Società Veneto-Trentina di Scienze Naturali

• Record Nr.: UNINA990008913230403321
• Pubbl/distr/stampa: Padova, : Societa Veneto-Trentina di scienze naturali
• ISSN: 1122-2921
• Lingua di pubblicazione: Italiano
• Formato: Materiale a stampa
• Livello bibliografico: Periodico

Flexible robot manipulators : modelling, simulation and control / / edited by M.O. Tokhi and A.K.M. Azad

• Record Nr.: UNINA9911006880103321
• Pubbl/distr/stampa: London, : Institution of Engineering and Technology, 2008
• ISBN: 1-281-97096-4; 9786611970963; 1-61583-310-2; 0-86341-203-3
• Descrizione fisica: 1 online resource (579 p.)
• Collana: IET control engineering series ; ; 68
• Altri autori (Persone): TokhiM. O; AzadA. K. M (Abul K. M.)
• Disciplina: 629.8/92; 629.892
• Soggetti: Robots, Industrial - Design and construction; Manipulators (Mechanism); Manipulators (Mechanism) - Automatic control; Robots - Control systems
• Lingua di pubblicazione: Inglese
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Note generali: Description based upon print version of record.
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Contents; Preface; List of contributors; List of abbreviations; List of notations; 1 Flexible manipulators - an overview; 2 Modelling of a single-link flexible manipulator system: Theoretical and practical ; investigations; 3 Classical mechanics approach of modelling multi-link flexible manipulators; 4 Parametric and non-parametric modelling of flexible manipulators; 5 Finite difference and finite element simulation of flexible manipulators; 6 Dynamic characterisation of flexible manipulators using symbolic manipulation; 7 Flexible space manipulators: Modelling, simulation, ground validation and space operation8 Open-loop control of flexible manipulators using command-generation techniques; 9 Control of flexible manipulators with input shaping techniques; 10 Enhanced PID-type classical control of flexible manipulators; 11 Force and position control of flexible manipulators; 12 Collocated and non-collocated control of flexible manipulators; 13 Decoupling control of flexible manipulators; 14 Modelling and control of space manipulators with flexible links; 15 Soft computing approaches for control of a flexible manipulator16 Modelling and control of smart material flexible manipulators; 17 Modelling and control of rigid-flexible manipulators; 18 Analysis and design environment for flexible manipulators; 19 SCEFMAS - An environment for simulation and control of flexible rigid-flexible manipulator; References; Index
• Sommario/riassunto: This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques