Flexible link robot manipulators: control techniques and structural design
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
London u.a.
Springer
2000
|
| Series: | Lecture notes in control and information sciences
257 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XI, 159 S. graph. Darst. |
| ISBN: | 1852333332 9781852333331 |
Staff View
MARC
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| 100 | 1 | |a Moallem, M. |d 1961- |e Verfasser |0 (DE-588)122152948 |4 aut | |
| 245 | 1 | 0 | |a Flexible link robot manipulators |b control techniques and structural design |c M. Moallem, R. V. Patel and K. Khorasani |
| 246 | 1 | 3 | |a Flexible-link robot manipulators |
| 264 | 1 | |a London u.a. |b Springer |c 2000 | |
| 300 | |a XI, 159 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Lecture notes in control and information sciences |v 257 | |
| 650 | 7 | |a Automates |2 ram | |
| 650 | 7 | |a Manipulateurs (mécanismes) |2 ram | |
| 650 | 7 | |a Robots - Systèmes de commande |2 ram | |
| 650 | 4 | |a Manipulators (Mechanism) | |
| 650 | 4 | |a Robots |x Control systems | |
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Record in the Search Index
| _version_ | 1807322912045137920 |
|---|---|
| adam_text |
CONTENTS
PREFACE
V
1.
INTRODUCTION
1
1.1.
MOTIVATION
.
2
1.2.
DYNAMIC
MODELING
.
4
1.3.
CONTROL
STRATEGIES
.
10
1.4.
MECHANICAL
DESIGN
.
14
1.5.
SOME
RELATED
TOPICS
.
16
1.5.1.
REGULATION
AND
TRACKING
.
16
1.5.2.
SOME
EXAMPLES
OF
NON-MINIMUM
PHASE
SYSTEMS
20
1.6.
OUTLINE
OF
THE
MONOGRAPH
.
26
1.6.1.
TRACKING
CONTROL
USING
INTEGRAL
MANIFOLDS
.
27
1.6.2.
TRACKING
CONTROL
BY
OUTPUT
REDEFINITION
AND
INPUT-OUTPUT
DECOUPLING
.
28
1.6.3.
OBSERVATION
STRATEGY
FOR
FLEXURAL
RATES
.
28
1.6.4.
STRUCTURE
DESIGN
.
28
1.6.5.
EXPERIMENTAL
EVALUATION
.
29
2.
TRACKING
CONTROL
BY
INTEGRAL
MANIFOLDS
31
2.1.
INTRODUCTION
.
32
2.2.
MODEL
REDUCTION
USING
INTEGRAL
MANIFOLDS
.
33
X
2.3.
SLOW
AND
FAST
SUBSYSTEM
CONTROL
STRATEGIES
.
38
2.4.
EXPERIMENTAL
RESULTS
.
48
2.4.1.
MODEL
VALIDATION
.
50
2.4.2.
IMPLEMENTATION
OF
THE
CONTROL
LAW
.
52
2.5.
CONCLUSION
.
56
3.
DECOUPLING
CONTROL
57
3.1.
INTRODUCTION
.
57
3.2.
INPUT-OUTPUT
LINEARIZATION
.
58
3.2.1.
DERIVATION
OF
H(0,0)
.
66
3.2.2.
A
MODEL
FOR
THE
DAMPING
TERM
E2
.
67
3.3.
CASE
STUDIES
.
67
3.3.1.
REGIONS
HAVING
THE
MINIMUM-PHASE
PROPERTY
FOR
A
TWO-LINK
MANIPULATOR
.
67
3.3.2.
INVERSE-DYNAMICS
CONTROL
.
69
3.4.
CONCLUSION
.
71
4.
OBSERVER-BASED
DECOUPLING
CONTROL
73
4.1.
INTRODUCTION
.
73
4.2.
INVERSE-DYNAMICS
CONTROL
.
75
4.3.
OBSERVER
DESIGN
.
76
4.3.1.
FULL-ORDER
OBSERVER
.
76
4.3.2.
REDUCED-ORDER
OBSERVER
.
78
4.3.3.
SLIDING
OBSERVER
.
79
4.4.
OBSERVER
BASED
INVERSE-DYNAMICS
CONTROL
.
80
4.5.
IMPLEMENTATION
OF
THE
CONTROL
LAW
.
82
4.5.1.
EXPERIMENTAL
RESULTS
.
86
4.6.
CONCLUSION
.
89
5.
INVERSE
DYNAMICS
SLIDING
CONTROL
95
5.1.
INTRODUCTION
.
95
5.2.
CONTROL
BASED
ON
INPUT-OUTPUT
LINEARIZATION
.
96
5.2.1.
STABILITY
OF
THE
CLOSED-LOOP
SYSTEM
.
99
5.2.2.
NUMERICAL
SIMULATIONS
.
100
5.3.
CONCLUSION
.
102
6.
OPTIMUM
STRUCTURE
DESIGN
FOR
CONTROL
103
6.1.
INTRODUCTION
.
104
6.2.
FLEXURAL
DYNAMICS
AND
EIGENVALUE
SENSITIVITIES
.
105
6.2.1.
CONTROLLABILITY
AND
SENSITIVITY
OF
FLEXURAL
MODESL07
XI
6.2.2.
POLE-ZERO
RELATIONSHIPS
.
109
6.3.
MULTI-OBJECTIVE
OPTIMIZATION
.
112
6.4.
OPTIMIZATION
PROCEDURE
AND
DISCUSSION
OF
RESULTS
.
.113
6.4.1.
PERFORMANCE
COMPARISON
BETWEEN
NON-UNIFORM
AND
UNIFORM
ARMS
.
115
6.5.
CONCLUSION
.
119
7.
CONCLUDING
REMARKS
121
7.1.
CONTROL
USING
INTEGRAL
MANIFOLDS
.
122
7.2.
INPUT-OUTPUT
DECOUPLING
CONTROL
.
122
7.3.
STRUCTURE
DESIGN
.
122
A.
STABILITY
PROOFS
125
A.L.
PROOF
OF
THEOREM
2.1
.
125
A.2.
PROOF
OF
THEOREM
3.1
.
128
A.3.
PROOF
OF
THEOREM
4.1
.
131
A.4.
PROOF
OF
THEOREM
5.1
.
134
B.
KINEMATIC
DESCRIPTION
137
C.
DYNAMIC
MODELS
139
C.L.
DYNAMIC
MODEL
OF
THE
FLEXIBLE
SINGLE-LINK
ARM
.
139
C.2.
DYNAMIC
MODEL
OF
THE
FLEXIBLE
TWO-LINK
ARM
.
140
C.3.
DERIVATION
OF
THE
DYNAMIC
EQUATIONS
.
141
REFERENCES
147
INDEX
157 |
| any_adam_object | 1 |
| author | Moallem, M. 1961- Patel, Rajnikant V. Khorasani, K. 1960- |
| author_GND | (DE-588)122152948 (DE-588)122152964 |
| author_facet | Moallem, M. 1961- Patel, Rajnikant V. Khorasani, K. 1960- |
| author_role | aut aut aut |
| author_sort | Moallem, M. 1961- |
| author_variant | m m mm r v p rv rvp k k kk |
| building | Verbundindex |
| bvnumber | BV013257428 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211 |
| callnumber-search | TJ211 |
| callnumber-sort | TJ 3211 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | SI 845 ZQ 6250 |
| classification_tum | DAT 460f DAT 815f FER 988f |
| ctrlnum | (OCoLC)247655872 (DE-599)BVBBV013257428 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mathematik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV013257428 |
| illustrated | Illustrated |
| indexdate | 2024-08-14T01:04:01Z |
| institution | BVB |
| isbn | 1852333332 9781852333331 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009037067 |
| oclc_num | 247655872 |
| open_access_boolean | |
| owner | DE-703 DE-739 DE-634 DE-83 DE-91G DE-BY-TUM |
| owner_facet | DE-703 DE-739 DE-634 DE-83 DE-91G DE-BY-TUM |
| physical | XI, 159 S. graph. Darst. |
| publishDate | 2000 |
| publishDateSearch | 2000 |
| publishDateSort | 2000 |
| publisher | Springer |
| record_format | marc |
| series | Lecture notes in control and information sciences |
| series2 | Lecture notes in control and information sciences |
| spelling | Moallem, M. 1961- Verfasser (DE-588)122152948 aut Flexible link robot manipulators control techniques and structural design M. Moallem, R. V. Patel and K. Khorasani Flexible-link robot manipulators London u.a. Springer 2000 XI, 159 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences 257 Automates ram Manipulateurs (mécanismes) ram Robots - Systèmes de commande ram Manipulators (Mechanism) Robots Control systems Entkopplung (DE-588)4152361-1 gnd rswk-swf Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd rswk-swf Sliding-Mode (DE-588)4320090-4 gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Mehrgrößenregelung (DE-588)4038377-5 gnd rswk-swf Flexible Struktur (DE-588)4399238-9 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Manipulator (DE-588)4037349-6 s Flexible Struktur (DE-588)4399238-9 s Nichtlineare Regelung (DE-588)4132964-8 s Sliding-Mode (DE-588)4320090-4 s Mehrgrößenregelung (DE-588)4038377-5 s Entkopplung (DE-588)4152361-1 s DE-604 Nichtlineare Kontrolltheorie (DE-588)4475218-0 s 1\p DE-604 Patel, Rajnikant V. Verfasser aut Khorasani, K. 1960- Verfasser (DE-588)122152964 aut Lecture notes in control and information sciences 257 (DE-604)BV005848579 257 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009037067&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Moallem, M. 1961- Patel, Rajnikant V. Khorasani, K. 1960- Flexible link robot manipulators control techniques and structural design Lecture notes in control and information sciences Automates ram Manipulateurs (mécanismes) ram Robots - Systèmes de commande ram Manipulators (Mechanism) Robots Control systems Entkopplung (DE-588)4152361-1 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Sliding-Mode (DE-588)4320090-4 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Mehrgrößenregelung (DE-588)4038377-5 gnd Flexible Struktur (DE-588)4399238-9 gnd Manipulator (DE-588)4037349-6 gnd |
| subject_GND | (DE-588)4152361-1 (DE-588)4475218-0 (DE-588)4320090-4 (DE-588)4132964-8 (DE-588)4038377-5 (DE-588)4399238-9 (DE-588)4037349-6 |
| title | Flexible link robot manipulators control techniques and structural design |
| title_alt | Flexible-link robot manipulators |
| title_auth | Flexible link robot manipulators control techniques and structural design |
| title_exact_search | Flexible link robot manipulators control techniques and structural design |
| title_full | Flexible link robot manipulators control techniques and structural design M. Moallem, R. V. Patel and K. Khorasani |
| title_fullStr | Flexible link robot manipulators control techniques and structural design M. Moallem, R. V. Patel and K. Khorasani |
| title_full_unstemmed | Flexible link robot manipulators control techniques and structural design M. Moallem, R. V. Patel and K. Khorasani |
| title_short | Flexible link robot manipulators |
| title_sort | flexible link robot manipulators control techniques and structural design |
| title_sub | control techniques and structural design |
| topic | Automates ram Manipulateurs (mécanismes) ram Robots - Systèmes de commande ram Manipulators (Mechanism) Robots Control systems Entkopplung (DE-588)4152361-1 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Sliding-Mode (DE-588)4320090-4 gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Mehrgrößenregelung (DE-588)4038377-5 gnd Flexible Struktur (DE-588)4399238-9 gnd Manipulator (DE-588)4037349-6 gnd |
| topic_facet | Automates Manipulateurs (mécanismes) Robots - Systèmes de commande Manipulators (Mechanism) Robots Control systems Entkopplung Nichtlineare Kontrolltheorie Sliding-Mode Nichtlineare Regelung Mehrgrößenregelung Flexible Struktur Manipulator |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009037067&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV005848579 |
| work_keys_str_mv | AT moallemm flexiblelinkrobotmanipulatorscontroltechniquesandstructuraldesign AT patelrajnikantv flexiblelinkrobotmanipulatorscontroltechniquesandstructuraldesign AT khorasanik flexiblelinkrobotmanipulatorscontroltechniquesandstructuraldesign AT moallemm flexiblelinkrobotmanipulators AT patelrajnikantv flexiblelinkrobotmanipulators AT khorasanik flexiblelinkrobotmanipulators |