05261nam 2200685Ia 450 991078228350332120200520144314.01-281-95611-29786611956110981-279-672-X(CKB)1000000000537898(EBL)1679469(OCoLC)879074195(SSID)ssj0000097863(PQKBManifestationID)11116721(PQKBTitleCode)TC0000097863(PQKBWorkID)10141323(PQKB)11664809(MiAaPQ)EBC1679469(WSP)00005290(Au-PeEL)EBL1679469(CaPaEBR)ebr10255474(CaONFJC)MIL195611(PPN)144714043(EXLCZ)99100000000053789820040507d2003 uy 0engur|n|---|||||txtccrAdvanced studies of flexible robotic manipulators[electronic resource] modeling, design, control, and applications /[edited by] Fei-Yue Wang, Yanqing GaoRiver Edge, NJ World Scientificc20031 online resource (457 p.)Series in intelligent control and intelligent automation ;vol. 4Description based upon print version of record.981-238-390-5 Includes bibliographical references.Contents ; Preface ; Contributing Authors ; 1. Flexible-link Manipulators: Modeling Nonlinear Control and Observer ; 1.1 Introduction ; 1.2 Modeling ; 1.3 Nonlinear Control ; 1.4 Control with Nonlinear Observer ; 1.5 Simulation Results ; 1.6 Conclusion2. Energy-Based Robust Control of Flexible Link Robots 2.1 Introduction ; 2.2 Dynamics of a Single-link Flexible Robot ; 2.3 Controller Design ; 2.4 Multi-link Flexible Robots ; 2.5 Conclusion3. Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials 3.1 Introduction ; 3.2 Efficient Trajectory Planning Using Optimal Bending Model ; 3.3 Compliant Control ; 3.4 Stability Analysis ; 3.5 Experimental Study ; 3.6 Conclusions ; References4. Force Control of Flexible Manipulators 4.1 Introduction ; 4.2 Force Control of A One-Link Flexible Arm ; 4.3 Dynamic Hybrid Position/ Force Control of Constrained n-Link Flexible Manipulators ; 4.4 Robust Cooperative Control of Two One-link Flexible Arms ; 4.5 ConclusionReferences 5. Experimental Study on the Control of Flexible Link Robots ; 5.1 SFL Manipulator ; 5.2 Multi-Link/Multi-Axis Flexible Link (MMFL) Manipulators ; 5.3 Force Control ; References ; 6. Sensor Output Feedback Control of Flexible Robot Arms ; 6.1 Introduction6.2 Dynamic Models of One-Link Flexible Robot Arms 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 educatSeries in intelligent control and intelligent automation ;v. 4.RoboticsManipulators (Mechanism)Robotics.Manipulators (Mechanism)629.892Wang Fei-Yue1534217Gao Yanqing1962-1563177MiAaPQMiAaPQMiAaPQBOOK9910782283503321Advanced studies of flexible robotic manipulators3831369UNINA