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Flexible-link Robot Manipulators

Control Techniques and Structural Design

  • Book
  • © 2000

Overview

Authors:
  1. M. Moallem
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  2. R. V. Patel
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  3. K. Khorasani
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  • The book demonstrates the theory with use of practical examples
  • The authors are well known within their field
  • It explores the links between flexible manipulators and nonlinear control techniques

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 257)

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Table of contents (7 chapters)

  1. Front Matter

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  2. Introduction

    Pages 1-29

  3. Tracking control by integral manifolds

    Pages 31-56

  4. Decoupling control

    Pages 57-72

  5. Observer-based decoupling control

    Pages 73-94

  6. Inverse dynamics sliding control

    Pages 95-102

  7. Optimum structure design for control

    Pages 103-119

  8. Concluding remarks

    Pages 121-123

  9. Back Matter

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Keywords

About this book

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.

Bibliographic Information

  • Book Title: Flexible-link Robot Manipulators

  • Book Subtitle: Control Techniques and Structural Design

  • Authors: M. Moallem, R. V. Patel, K. Khorasani

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/BFb0110149

  • Publisher: Springer London

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London 2000

  • Softcover ISBN: 978-1-85233-333-1Published: 22 September 2000

  • eBook ISBN: 978-1-84628-555-4Published: 05 November 2007

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XI, 161

  • Topics: Control, Robotics, Mechatronics

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