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 wid...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston, MA
Springer US
1991
|
| Schriftenreihe: | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors
138 |
| Schlagworte: | |
| Online-Zugang: | BTU01 Volltext |
| Zusammenfassung: | 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 |
| Beschreibung: | 1 Online-Ressource (XVII, 275 p) |
| ISBN: | 9781461539742 |
| DOI: | 10.1007/978-1-4615-3974-2 |
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| id | DE-604.BV045186540 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:57Z |
| institution | BVB |
| isbn | 9781461539742 |
| language | English |
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| series2 | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |
| spelling | Fraser, Anthony R. Verfasser aut Perturbation Techniques for Flexible Manipulators by Anthony R. Fraser, Ron W. Daniel Boston, MA Springer US 1991 1 Online-Ressource (XVII, 275 p) txt rdacontent c rdamedia cr rdacarrier The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors 138 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 Engineering Control, Robotics, Mechatronics Electrical Engineering Control engineering Robotics Mechatronics Electrical engineering Manipulator (DE-588)4037349-6 gnd rswk-swf Störungstheorie (DE-588)4128420-3 gnd rswk-swf Manipulator (DE-588)4037349-6 s Störungstheorie (DE-588)4128420-3 s 1\p DE-604 Daniel, Ron W. aut Erscheint auch als Druck-Ausgabe 9781461367758 https://doi.org/10.1007/978-1-4615-3974-2 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Fraser, Anthony R. Daniel, Ron W. Perturbation Techniques for Flexible Manipulators Engineering Control, Robotics, Mechatronics Electrical Engineering Control engineering Robotics Mechatronics Electrical engineering Manipulator (DE-588)4037349-6 gnd Störungstheorie (DE-588)4128420-3 gnd |
| subject_GND | (DE-588)4037349-6 (DE-588)4128420-3 |
| title | Perturbation Techniques for Flexible Manipulators |
| title_auth | Perturbation Techniques for Flexible Manipulators |
| title_exact_search | Perturbation Techniques for Flexible Manipulators |
| title_full | Perturbation Techniques for Flexible Manipulators by Anthony R. Fraser, Ron W. Daniel |
| title_fullStr | Perturbation Techniques for Flexible Manipulators by Anthony R. Fraser, Ron W. Daniel |
| title_full_unstemmed | Perturbation Techniques for Flexible Manipulators by Anthony R. Fraser, Ron W. Daniel |
| title_short | Perturbation Techniques for Flexible Manipulators |
| title_sort | perturbation techniques for flexible manipulators |
| topic | Engineering Control, Robotics, Mechatronics Electrical Engineering Control engineering Robotics Mechatronics Electrical engineering Manipulator (DE-588)4037349-6 gnd Störungstheorie (DE-588)4128420-3 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Electrical Engineering Control engineering Robotics Mechatronics Electrical engineering Manipulator Störungstheorie |
| url | https://doi.org/10.1007/978-1-4615-3974-2 |
| work_keys_str_mv | AT fraseranthonyr perturbationtechniquesforflexiblemanipulators AT danielronw perturbationtechniquesforflexiblemanipulators |