Perturbation Techniques for Flexible Manipulators

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.

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  • Author : Anthony R. Fraser
  • Publisher : Springer Science & Business Media
  • Pages : 275 pages
  • ISBN : 1461539749
  • Rating : 4/5 from 21 reviews
CLICK HERE TO GET THIS BOOKPerturbation Techniques for Flexible Manipulators

Perturbation Techniques for Flexible Manipulators

Perturbation Techniques for Flexible Manipulators
  • Author : Anthony R. Fraser,Ron W. Daniel
  • Publisher : Springer Science & Business Media
  • Release : 06 December 2012
GET THIS BOOKPerturbation Techniques for Flexible Manipulators

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

Flexible Manipulators

Flexible Manipulators
  • Author : Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao
  • Publisher : Academic Press
  • Release : 16 April 2012
GET THIS BOOKFlexible Manipulators

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

Flexible Robot Manipulators

Flexible Robot Manipulators
  • Author : M.O. Tokhi,A.K.M. Azad
  • Publisher : IET
  • Release : 02 March 2021
GET THIS BOOKFlexible Robot Manipulators

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

Flexible Manipulators

Flexible Manipulators
  • Author : Yanqing Gao,Fei-Yue Wang,Zhi-Quan Zhao
  • Publisher : Academic Press
  • Release : 16 April 2012
GET THIS BOOKFlexible Manipulators

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

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators

Distributed Parameter Modeling and Boundary Control of Flexible Manipulators
  • Author : Jinkun Liu,Wei He
  • Publisher : Springer
  • Release : 16 April 2018
GET THIS BOOKDistributed Parameter Modeling and Boundary Control of Flexible Manipulators

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

Motion Planning for Flexible Manipulators

Motion Planning for Flexible Manipulators
  • Author : Christopher Burke Pond
  • Publisher : Unknown Publisher
  • Release : 02 March 1999
GET THIS BOOKMotion Planning for Flexible Manipulators

As robotic manipulators become more prevalent, particularly in hazardous environments or for repetitive tasks, demand continues for increased performance and decreased cost. In some applications, both can be achieved by reducing the weight of the manipulator. However, reduced weight often leads to significant structural flexibility and vibration which, for most tasks, is generally regarded as detrimental to performance. Although there has been a great deal of research in the area of controlling flexible manipulators to follow a desired trajectory, much

Advanced Studies of Flexible Robotic Manipulators

Advanced Studies of Flexible Robotic Manipulators
  • Author : Fei-Yue Wang,Yanqing Gao
  • Publisher : World Scientific
  • Release : 02 March 2021
GET THIS BOOKAdvanced Studies of Flexible Robotic Manipulators

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