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Flexible Manipulators

Flexible Manipulators
Modeling, Analysis and Optimum Design

by Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao

  • Publisher : Academic Press
  • Release : 2012-04-16
  • Pages : 260
  • ISBN : 0123973236
  • Language : En, Es, Fr & De
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The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems. Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere

Advanced Studies of Flexible Robotic Manipulators

Advanced Studies of Flexible Robotic Manipulators
Modeling, Design, Control and Applications

by Fei-Yue Wang,Yanqing Gao

  • Publisher : World Scientific
  • Release : 2003
  • Pages : 456
  • ISBN : 9789812796721
  • Language : En, Es, Fr & De
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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 education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering

Perturbation Techniques for Flexible Manipulators

Perturbation Techniques for Flexible Manipulators
A Book

by Anthony R. Fraser,Ron W. Daniel

  • Publisher : Springer Science & Business Media
  • Release : 2012-12-06
  • Pages : 275
  • ISBN : 1461539749
  • Language : En, Es, Fr & De
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A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators
A Book

by Jinkun Liu,Wei He

  • Publisher : Springer
  • Release : 2018-04-16
  • Pages : 154
  • ISBN : 9811083002
  • Language : En, Es, Fr & De
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The book investigates fundamental issues in flexible manipulator systems, including distributed parameter modeling and boundary controller design. It presents theoretical explorations of several fundamental problems concerning the dynamics and control of these systems. By integrating fresh concepts and results to form a systematic approach to control, it also provides a basic theoretical framework. In turn, the book offers a comprehensive treatment of flexible manipulator systems, addressing topics ranging from related distributed parameter modeling and advanced boundary controller design for these systems with input constraint, to active control with output constraint. 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.

Flexible Robot Manipulators

Flexible Robot Manipulators
Modelling, Simulation and Control

by M.O. Tokhi,A.K.M. Azad

  • Publisher : IET
  • Release : 2008
  • Pages : 545
  • ISBN : 0863414486
  • Language : En, Es, Fr & De
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This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques; a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and software environments for analysis, design, simulation and control of flexible manipulators.

Experiments in Modelling and End-point Control of Two-link Flexible Manipulators

Experiments in Modelling and End-point Control of Two-link Flexible Manipulators
A Book

by Celia Marie Oakley,Stanford University. Department of Aeronautics and Astronautics

  • Publisher : Unknown Publisher
  • Release : 1991
  • Pages : 348
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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Robots Manipulators

Robots Manipulators
New Research

by John X. Liu

  • Publisher : Nova Publishers
  • Release : 2005
  • Pages : 240
  • ISBN : 9781594543586
  • Language : En, Es, Fr & De
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This book deals with control and learning in robotic systems.

Robot Manipulators

Robot Manipulators
Trends and Development

by Agustin Jimenez,Basil M. Al Hadithi

  • Publisher : BoD – Books on Demand
  • Release : 2010-03-01
  • Pages : 678
  • ISBN : 9533070730
  • Language : En, Es, Fr & De
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This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Robot Manipulators

Robot Manipulators
Modeling, Performance Analysis and Control

by Etienne Dombre,Wisama Khalil

  • Publisher : John Wiley & Sons
  • Release : 2013-03-01
  • Pages : 398
  • ISBN : 1118614100
  • Language : En, Es, Fr & De
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This book presents the most recent research results on modeling andcontrol of robot manipulators. Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models. Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis. Chapter 3 introduces global and local tools forperformance analysis of serial robots. Chapter 4 presents an original optimization techniquefor point-to-point trajectory generation accounting for robotdynamics. Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton-Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.

Perturbation Techniques for Flexible Manipulators

Perturbation Techniques for Flexible Manipulators
A Book

by Anthony R. Fraser,Ronald Daniel

  • Publisher : Springer
  • Release : 2012-10-09
  • Pages : 275
  • ISBN : 9781461367758
  • Language : En, Es, Fr & De
GET BOOK

A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.

Robotic Manipulators and Vehicles

Robotic Manipulators and Vehicles
Control, Estimation and Filtering

by Gerasimos Rigatos,Krishna Busawon

  • Publisher : Springer
  • Release : 2018-05-24
  • Pages : 734
  • ISBN : 331977851X
  • Language : En, Es, Fr & De
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This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Advances on Theory and Practice of Robots and Manipulators

Advances on Theory and Practice of Robots and Manipulators
Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

by Marco Ceccarelli,Victor A. Glazunov

  • Publisher : Springer
  • Release : 2014-06-02
  • Pages : 573
  • ISBN : 3319070584
  • Language : En, Es, Fr & De
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This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2014, the 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2014 is the twentieth event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community. Proceedings volumes of ROMANSY have been always published to be available, also after the symposium, to a large public of scholars and designers with the aim to give an overview of new advances and trends in the theory, design and practice of robots. This proceedings volume, like previous ones of the series, contains contributions with achievements covering many fields of Robotics as Theory and Practice of Robots and Manipulators that can be an inspiration for future developments.

Serial and Parallel Robot Manipulators

Serial and Parallel Robot Manipulators
Kinematics, Dynamics, Control and Optimization

by Serdar Küçük

  • Publisher : BoD – Books on Demand
  • Release : 2012-03-30
  • Pages : 470
  • ISBN : 9535104373
  • Language : En, Es, Fr & De
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The robotics is an important part of modern engineering and is related to a group of branches such as electric

Parallel Manipulators

Parallel Manipulators
New Developments

by Jee-Hwan Ryu

  • Publisher : BoD – Books on Demand
  • Release : 2008-04-01
  • Pages : 508
  • ISBN : 3902613203
  • Language : En, Es, Fr & De
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Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.

Flexible Robotics in Medicine

Flexible Robotics in Medicine
A Design Journey of Motion Generation Mechanisms and Biorobotic System Development

by Hongliang Ren

  • Publisher : Academic Press
  • Release : 2020-06-20
  • Pages : 518
  • ISBN : 0128165561
  • Language : En, Es, Fr & De
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Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems. Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards. Covers realistic prototypes, experimental protocols and design procedures for engineering flexible medical robotics Covers the full product development pipeline for engineering new flexible robots for medical applications, including design principles and design verifications Includes detailed information for application and development of several types of robots, including Handheld Concentric-Tube Flexible Robot for Intraocular Procedures, a Preliminary Robotic Surgery Platform with Multiple Section Tendon-Driven Mechanism, a Flexible Drill for Minimally Invasive Transoral Surgical Robotic System, Four-Tendon-Driven Flexible Manipulators, Slim Single-port Surgical Manipulator with Spring Backbones and Catheter-size Channels, and much more

Theory and Practice of Robots and Manipulators

Theory and Practice of Robots and Manipulators
Proceedings of RoManSy 10: The Tenth CISM-IFToMM Symposium

by A. Morecki,G. Bianchi,K. Jaworek

  • Publisher : Springer
  • Release : 2014-05-04
  • Pages : 427
  • ISBN : 3709126983
  • Language : En, Es, Fr & De
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The CISM-IFToMM Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the Tenth Symposia present a world view to date of the state-of-the-art, including a unique record of the results achieved in central and eastern Europe.

Advanced Control of Flexible Manipulators

Advanced Control of Flexible Manipulators
Final Report

by Patrick B. Usoro,Scientific Systems, Inc

  • Publisher : Unknown Publisher
  • Release : 1983
  • Pages : 214
  • ISBN : 9876543210XXX
  • Language : En, Es, Fr & De
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Dynamics and Control of Robotic Manipulators with Contact and Friction

Dynamics and Control of Robotic Manipulators with Contact and Friction
A Book

by Shiping Liu,Gang S. Chen

  • Publisher : Wiley
  • Release : 2019-01-29
  • Pages : 400
  • ISBN : 1119422485
  • Language : En, Es, Fr & De
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A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Advances in VLSI, Communication, and Signal Processing

Advances in VLSI, Communication, and Signal Processing
Select Proceedings of VCAS 2018

by Debashis Dutta,Haranath Kar,Chiranjeev Kumar,Vijaya Bhadauria

  • Publisher : Springer Nature
  • Release : 2019-12-03
  • Pages : 1021
  • ISBN : 9813297751
  • Language : En, Es, Fr & De
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This book comprises select proceedings of the International Conference on VLSI, Communication and Signal processing (VCAS 2018). It looks at latest research findings in VLSI design and applications. The book covers a wide range of topics in electronics and communication engineering, especially in the area of microelectronics and VLSI design, communication systems and networks, and image and signal processing. The contents of this book will be useful to researchers and professionals alike.

Smart Flow Control Processes in Micro Scale

Smart Flow Control Processes in Micro Scale
A Book

by Bengt Sunden,Jin-yuan Qian,Junhui Zhang ,Zan Wu

  • Publisher : MDPI
  • Release : 2020-12-29
  • Pages : 334
  • ISBN : 3039364936
  • Language : En, Es, Fr & De
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In recent years, microfluidic devices with a large surface-to-volume ratio have witnessed rapid development, allowing them to be successfully utilized in many engineering applications. A smart control process has been proposed for many years, while many new innovations and enabling technologies have been developed for smart flow control, especially concerning “smart flow control” at the microscale. This Special Issue aims to highlight the current research trends related to this topic, presenting a collection of 33 papers from leading scholars in this field. Among these include studies and demonstrations of flow characteristics in pumps or valves as well as dynamic performance in roiling mill systems or jet systems to the optimal design of special components in smart control systems.