M Moallem

(Author)

Flexible-Link Robot Manipulators: Control Techniques and Structural Design (Edition.)Paperback - Edition., 22 September 2000

Flexible-Link Robot Manipulators: Control Techniques and Structural Design (Edition.)
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Part of Series
Lecture Notes in Control and Information Sciences
Part of Series
Computer Communications and Networks
Print Length
161 pages
Language
English
Publisher
Springer
Date Published
22 Sep 2000
ISBN-10
1852333332
ISBN-13
9781852333331

Description

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.

Product Details

Authors:
M MoallemRajni V PatelK Khorasani
Book Edition:
Edition.
Book Format:
Paperback
Country of Origin:
US
Date Published:
22 September 2000
Dimensions:
22.96 x 15.54 x 1.47 cm
ISBN-10:
1852333332
ISBN-13:
9781852333331
Language:
English
Location:
London
Pages:
161
Publisher:
Weight:
267.62 gm

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