Last edited by JoJogal
Tuesday, July 28, 2020 | History

1 edition of Control of a flexible one-link manipulator found in the catalog.

Control of a flexible one-link manipulator

Ioannis Zouzias

Control of a flexible one-link manipulator

by Ioannis Zouzias

  • 352 Want to read
  • 17 Currently reading

Published by Naval Postgraduate School, Available from National Technical Information Service in Monterey, Calif, Springfield, Va .
Written in English

    Subjects:
  • Electrical and computer engineering

  • The Physical Object
    Pagination187 p.
    Number of Pages187
    ID Numbers
    Open LibraryOL25499421M

    This new book discusses the very latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches, numerical modelling/simulation techniques and more. Book, W.J., “Modelling, Design and Control of Flexible Manipulator Arms: A Tutorial Review” Proceedings of the 29th Conference on Decision and Control, Honolulu, Hawaii (Dec, ) pp. – .

    Book, W.J., "Recursive Lagrangian Dynamics of Flexible Manipulator Arms Via Transformation Matrices", Carnegie-Mellon University Robotics Institute Technical Report, CMU-RI-TR, Dec. Hughes, P.C., "Dynamics of a Flexible Manipulator Arm for the Space Shuttle", AAS/AIAA Astrodynamics Conference, September , Jackson Lake Lodge. Book, W.J., "Recursive Lagrangian Dynamics of Flexible Manipulator Arms Via Transformation Matrices", Carnegie-Mellon University Robotics Institute Technical Report, CMU-RI-TR, Dec. Hughes, P.C., "Dynamics of a Flexible Manipulator Arm for the Space Shuttle", AAS/AIAA Astrodynamics Conference, September , Jackson Lake Lodge, Wyoming.

    In brief, the book addresses dynamical analysis and control design for flexible manipulator systems. Though primarily intended for researchers and engineers in the control system and mechanical engineering community, it can also serve as supplemental reading on the modeling and control of flexible manipulator systems at the postgraduate level. Abstract: Equations were developed which describe the motion of a robot manipulator which incorporates both structural and joint flexibility. The emphasis was on the dynamic model of a one-link flexible manipulator to show how critical it is to incorporate joint flexibility and to demonstrate the significance of cross coupling among state variables for small deflection.


Share this book
You might also like
Phillips Exeter Academy.

Phillips Exeter Academy.

The proposition. A new song on the union. Air, Paddy Whack,

The proposition. A new song on the union. Air, Paddy Whack,

Philippine Legislature.

Philippine Legislature.

Literary influences in colonial newspapers, 1704-1750.

Literary influences in colonial newspapers, 1704-1750.

Earning your keep

Earning your keep

course in general biology

course in general biology

1999 review, water quality standards for salinity, Colorado River system

1999 review, water quality standards for salinity, Colorado River system

Privatization in Hawaii

Privatization in Hawaii

Constitution of the Islamic Republic of Pakistan

Constitution of the Islamic Republic of Pakistan

The wonderful world of transport

The wonderful world of transport

A-Level volumetric analysis

A-Level volumetric analysis

active character of thinking

active character of thinking

Malaysia

Malaysia

HNC / HND business.

HNC / HND business.

Control of a flexible one-link manipulator by Ioannis Zouzias Download PDF EPUB FB2

Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on.

{Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator} {Experiments in Adaptive Control of a Very Flexible One-Link Manipulator} {Adaptive Control of a Flexible Structure} {Experiments in Control of Flexible Structures with Uncertain Parameters} Last modified Tue, 2 Nov, at E.

Schmitz, "Experiments on the end-point position control of a very flexible one-link manipulator", Ph.D. Dissertation (Standford University, June, ).

Google Scholar; W. Wang, S. Lu and C. Hsu, "Experiments on the position control of a one-link flexible robot arm", IEEE Transactions on Robotics and Automation 5, No. 3, Cited by:   Fig. 1 shows a schematic representation of a flexible single-link manipulator. The rotating hub inputs a desired angular displacement, θ, to the flexible manipulator.A flexible beam of length, l b, is connected to the hub and used to support a payload of mass, m y, the response of the beam and payload can precisely track the displacement, θ.

Cited by: 5. Abstract. The aim of the present case study is to design a control system for a single-link flexible manipulator. A two-mode dynamic model of the manipulator is first obtained by using the Lagrangian-assumed modes : Da-Wei Gu, Petko H.

Petkov, Mihail M. Konstantinov. The control of lightweight flexible manipulators is the focus of this work. Theflexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the deter mination of a nonlinear feedback control as for rigid manipu lators, since there are not as many control inputs.

This paper presents an intelligent-based control strategy for tip position tracking control of a single-link flexible manipulator. Motivated by the well-kn A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach - IEEE Journals & Magazine.

Note of caution: this is a list of the best manipulation books, but the authors of these books do not necessarily endorse manipulations. Most of the authors are indeed against manipulation and psychological manipulation.

However, the information and psychology contained in these books can be turned into dark psychology and used for manipulation. Or it can be used to learn about manipulation. Flexible manipulators are associated with merits such as low power consumption, use of small actuators, high-speed, and their low cost due to fewer materials’ requirements than.

Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplify the controller and the filter implementation.

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.

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world.

Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman &.

A variable structure model following controller (VSMFC) is designed for the tip position control of a single flexible link. The design is done for the system model in which only the first two flexible.

This paper studies the control of a flexible-link manipulator with uncertainty. The fast and slow dynamics are derived based on the singular perturbation (SP) theory.

The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are designed. Table Of Contents. 1 Manipulator Definition; 2 How To Spot A Manipulator.

They make you talk a lot more about yourself than they do about themselves.; They try to get you to be indebted to them.; They use small threats to leverage their demands.; They manipulate the facts.; They victimize themselves – no one understands them, but you might be the.

The control of a long, highly flexible, one-link manipulator arm is considered. we introduce a new method of controlling such manipulators, namely pointwise actuators (e.g. reaction jets) located at specified points along the length of the arm, in addition to a torque at the base.

In this study, modelling and control of a two-link robot manipulator whose first link is rigid and the second one is flexible is considered for both land and underwater conditions.

Governing equati. book and also has co-authored four book chapters of an- open-loop and closed-loop control strategies for flexible manipulator systems. control problem of a one-link flexible robot arm. Equations were developed which describe the motion of a robot manipulator which incorporates both structural and joint flexibility.

The emphasis was on the dynamic model of a one-link flexible manipulator to show how critical it is to incorporate joint flexibility and to demonstrate the significance of cross coupling among state variables for small deflection.

This paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed using the Lagrange's equation and modal expansion method.

Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties.The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation.

Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts.

Flexural dynamics have constituted the main research challenge in modelling Reviews: 1.Employs the finite element method, based on elementary beam theory, during the process of formulation.

Develops and instruments a one-link flexible manipulator in order to control its vibration modes.