Flexible-link robot manipulators: Control techniques and structural design
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...
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| Main Authors: | , , |
|---|---|
| Format: | Electronic eBook |
| Language: | English |
| Published: |
London
Springer London
2000
|
| Series: | Lecture Notes in Control and Information Sciences
257 |
| Subjects: | |
| Online Access: | FHI01 BTU01 Volltext |
| Summary: | 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 |
| Physical Description: | 1 Online-Ressource (XI, 161 p) |
| ISBN: | 9781846285554 |
| DOI: | 10.1007/BFb0110149 |
Staff View
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Record in the Search Index
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| any_adam_object | |
| author | Moallem, M. Patel, R. V. Khorasani, K. |
| author_facet | Moallem, M. Patel, R. V. Khorasani, K. |
| author_role | aut aut aut |
| author_sort | Moallem, M. |
| author_variant | m m mm r v p rv rvp k k kk |
| building | Verbundindex |
| bvnumber | BV045149085 |
| classification_rvk | SI 845 ZQ 6250 |
| collection | ZDB-2-ENG |
| ctrlnum | (ZDB-2-ENG)978-1-84628-555-4 (OCoLC)849969108 (DE-599)BVBBV045149085 |
| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8 |
| dewey-search | 629.8 |
| dewey-sort | 3629.8 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mathematik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/BFb0110149 |
| format | Electronic eBook |
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| id | DE-604.BV045149085 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:02Z |
| institution | BVB |
| isbn | 9781846285554 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030538784 |
| oclc_num | 849969108 |
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| owner | DE-573 DE-634 |
| owner_facet | DE-573 DE-634 |
| physical | 1 Online-Ressource (XI, 161 p) |
| psigel | ZDB-2-ENG ZDB-2-ENG_2000/2004 ZDB-2-ENG ZDB-2-ENG_2000/2004 ZDB-2-ENG ZDB-2-ENG_Archiv |
| publishDate | 2000 |
| publishDateSearch | 2000 |
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| publisher | Springer London |
| record_format | marc |
| series2 | Lecture Notes in Control and Information Sciences |
| spelling | Moallem, M. Verfasser aut Flexible-link robot manipulators Control techniques and structural design by M. Moallem, R. V. Patel, K. Khorasani London Springer London 2000 1 Online-Ressource (XI, 161 p) txt rdacontent c rdamedia cr rdacarrier Lecture Notes in Control and Information Sciences 257 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 Engineering Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Mehrgrößenregelung (DE-588)4038377-5 gnd rswk-swf Entkopplung (DE-588)4152361-1 gnd rswk-swf Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd rswk-swf Flexible Struktur (DE-588)4399238-9 gnd rswk-swf Sliding-Mode (DE-588)4320090-4 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 1\p DE-604 Nichtlineare Kontrolltheorie (DE-588)4475218-0 s 2\p DE-604 Patel, R. V. aut Khorasani, K. aut Erscheint auch als Druck-Ausgabe 9781852333331 https://doi.org/10.1007/BFb0110149 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Moallem, M. Patel, R. V. Khorasani, K. Flexible-link robot manipulators Control techniques and structural design Engineering Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Nichtlineare Regelung (DE-588)4132964-8 gnd Mehrgrößenregelung (DE-588)4038377-5 gnd Entkopplung (DE-588)4152361-1 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Flexible Struktur (DE-588)4399238-9 gnd Sliding-Mode (DE-588)4320090-4 gnd Manipulator (DE-588)4037349-6 gnd |
| subject_GND | (DE-588)4132964-8 (DE-588)4038377-5 (DE-588)4152361-1 (DE-588)4475218-0 (DE-588)4399238-9 (DE-588)4320090-4 (DE-588)4037349-6 |
| title | Flexible-link robot manipulators Control techniques and structural design |
| 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 by M. Moallem, R. V. Patel, K. Khorasani |
| title_fullStr | Flexible-link robot manipulators Control techniques and structural design by M. Moallem, R. V. Patel, K. Khorasani |
| title_full_unstemmed | Flexible-link robot manipulators Control techniques and structural design by M. Moallem, R. V. Patel, 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 | Engineering Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Nichtlineare Regelung (DE-588)4132964-8 gnd Mehrgrößenregelung (DE-588)4038377-5 gnd Entkopplung (DE-588)4152361-1 gnd Nichtlineare Kontrolltheorie (DE-588)4475218-0 gnd Flexible Struktur (DE-588)4399238-9 gnd Sliding-Mode (DE-588)4320090-4 gnd Manipulator (DE-588)4037349-6 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Control engineering Robotics Mechatronics Nichtlineare Regelung Mehrgrößenregelung Entkopplung Nichtlineare Kontrolltheorie Flexible Struktur Sliding-Mode Manipulator |
| url | https://doi.org/10.1007/BFb0110149 |
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