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Full Description
Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators.
After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element techniques. Control techniques are then discussed, including a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control, and a range of soft-computing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Finally the book presents SCEFMAS, a software environment for analysis, design, simulation and control of flexible manipulators.
Flexible Robot Manipulators is essential reading for advanced students of robotics, mechatronics and control engineering and will serve as a source of reference for research in areas of modelling, simulation and control of dynamic flexible structures in general and, specifically, of flexible robotic manipulators.
Contents
Chapter 1: Flexible manipulators - an overview
Chapter 2: Design of a flexible manipulator experimental system
Chapter 3: Dynamic characterisation of a single-link flexible manipulator
Chapter 4: Finite difference modelling
Chapter 5: Finite element modelling
Chapter 6: Linear parametric modelling
Chapter 7: Neural network modelling
Chapter 8: Open-loop control using command generation techniques
Chapter 9: Collocated and non-collocated control
Chapter 10: Hybrid iterative learning control
Chapter 11: Fuzzy logic control
Chapter 12: Multi-objective genetic algorithm control
Chapter 13: Multi-objective particle swarm optimisation control
Chapter 14: Evolutionary neuro-fuzzy control
Chapter 15: Software environment for modelling and control of flexible manipulators
