Flexible-link robot manipulators : control techniques and structural design
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...
Enregistré dans:
| Auteurs principaux: | , , |
|---|---|
| Format: | Livre numérique |
| Sprog: | Anglais |
| Udgivet: |
London ; Paris [etc.] :
Springer-Verlag London Limited : Springer e-books
[20..].
Cham : Springer Nature |
| Serier: | Lecture notes in control and information sciences
257 |
| Fag: | |
| Online adgang: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Kommentar: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Flexible-link Robot Manipulators, Control Techniques and Structural Design, M. Moallem, R.V. Patel and K. Khorasani, London, Springer, 2000, XI-159 p., Lecture notes in control and information sciences, 1-85233-333-2 • Flexible-link Robot Manipulators, Texte imprimé, 9781447139522 |
| Summary: | 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. |
|---|---|
| Emne beskrivelse: | Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| ISBN: | 9781846285554 (PDF) 9781846285554 |
| ISSN: | 1610-7411 |
| Adgang: | Accès en ligne pour les établissements français bénéficiaires des licences nationales Accès soumis à abonnement pour tout autre établissement Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 |