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 introduces a
range of modelling and simulation techniques based on the Lagrange
equation formulation, parametric approaches based on linear input/output
models using system identification techniques, neuro-modelling
approaches, and numerical techniques for dynamic characterisation using
finite difference and finite element techniques. Control techniques are
then discussed, including a range of open-loop and closed-loop control
techniques based on classical and modern control methods including neuro
and iterative control, and a range of soft-computing control techniques
based on fuzzy logic, neural networks, and evolutionary and bio-inspired
optimisation paradigms. Finally the book presents SCEFMAS, a software
environment for analysis, design, simulation and control of flexible
manipulators.
Flexible Robot Manipulators is essential reading for advanced students
of robotics, mechatronics and control engineering and will serve as a
source of reference for research in areas of modelling, simulation and
control of dynamic flexible structures in general and, specifically, of
flexible robotic manipulators.
