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Thursday, August 6, 2020 | History

3 edition of Controlling flexible manipulators found in the catalog.

Controlling flexible manipulators

Controlling flexible manipulators

an experimental investigation

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  • 39 Currently reading

Published by Georgia Institute of Technology, National Aeronautics and Space Administration, National Technical Information Service, distributor in [Atlanta, GA], [Washington, DC, Springfield, Va .
Written in English


Edition Notes

Statementby Gordon Greene Hastings
SeriesNASA contractor report -- NASA CR-180647
ContributionsUnited States. National Aeronautics and Space Administration
The Physical Object
FormatMicroform
Pagination1 v
ID Numbers
Open LibraryOL14980898M

M. Benosman, "Control of flexible manipulators with extension to non-minimum phase systems", Ecole des Mines de Nantes, Tech. Rep. 02/1/AUTO () (thesis preprint). Google Scholar; G. Leugering and E. Schmidt, "On the control of networks of vibrating strings and beams", IEEE Conference on Decision and Control () pp. Cited by:   Flexible manipulators have numerous advantages such as lightweight, high operation speed, and low power consumption. However, they suffer from link vibrations, especially when operated at high speeds followed by sudden stops. This limitation has been addressed using techniques such as adaptive filters, adaptive strain feedback gain, state feedback control, etc. This article presents a Cited by: 2.

G. Hastings and W. J. Book, "A Linear Dynamic Model for Flexible Robotic Manipulators," IEEE Control Systems Magazine," pp. , [4] F. Bellezza, L. Lanari and G. Ulivi, "Exact Modeling of the Flexible Slewing Link," IEEE International Conference o n Robotics and Automation, pp. The problem of controlling the interaction of a flexible link manipulator with a compliant environment is considered. The manipulator's tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with Cited by:

The piezoelectric actuators are used to investigate the active vibration control of flexible manipulators in this paper. Based on the assumed mode method, piezoelectric coupling model, and Hamilton’s principle, the dynamic equation of the single flexible manipulator (SFM) with surface bonded actuators is established. Then, a singular perturbation model consisted of a slow subsystem and a Cited by: 8.   The Manipulators book. Read 2 reviews from the world's largest community for readers/5.


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Controlling flexible manipulators Download PDF EPUB FB2

Purchase Flexible Manipulators - 1st Edition. Print Book & E-Book. ISBN Control of Flexible Manipulators. Theory and Practice, Robot Manipulators Trends and Development, Agustin Jimenez and Basil M Al Hadithi, IntechOpen, DOI: / Help us write another book on this subject and reach those readers.

Suggest a book topic Books open for by: 9. Control of flexible manipulators: A survey Article (PDF Available) in Robotica 22(05) - October with 1, Reads How we measure 'reads'Author: Mouhacine Benosman. The control of lightweight flexible manipulators is the focus of this work.

Theflexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the deter mination of a nonlinear feedback control as for rigid manipu lators, since there are not as many control inputs Cited by: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links.

The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control of Flexible Manipulators. Theory and Practice Finally, the coupling torque affecting the motor dynamics (see Equ ation (1)) is define d as.

In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of by: Get this from a library.

Controlling flexible manipulators: an experimental investigation. [Gordon Greene Hastings; United States. National Aeronautics and Space Administration.]. CONTROLLING FLEXIBLE MANIPULATORS, AN EXPERIMENTAL INVESTIGATION A THESIS Presented to The Faculty of the Division of Graduate Studies By Gordon Greene Hastings In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the School of Mechanical Engineering Georgia Institute of Technology August, Get this from a library.

Control of flexible-link manipulators using neural networks. [H A Talebi; R V Patel; K Khorasani] -- Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility.

You can write a book review and share your experiences. Other readers will always be interested in your opinion of the books you've read.

Whether you've loved the book or not, if you give your honest and detailed thoughts then people will find new books that are right for them.

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 : M.

Moallem. Addressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume.

Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators. Modeling and Control of Flexible Manipulators Stig Moberg Department of Electrical Engineering Linköping University, SE– 83 Linköping, Sweden Linköping Cover illustration: A well-known path used by robot customers and robot man-ufacturers for evaluating the path accuracy of industrial robots (front).

One ele. To measure the link vibration, strain gauges are used. A link tip's deflections are calculated from the strain at the root of the links.

Control of Spatial Flexible Manipulators Joint 6~ xvJnt 5 4~ ~" Left Arm " " Joint 7~ Gripper 0 ~~- "Link5 / \7"L:T~ Fig. Experimental flexible dual Cited by: This paper studies the control of a flexible-link manipulator with uncertainty.

The fast and slow dynamics are derived based on the singular perturbation (SP) theory. The sliding mode control is proposed while the adaptive design is developed using neural networks (NNs) and disturbance observer (DOB) where the novel update laws for NN and DOB are by: Flexible Manipulators.

Steven Ims is currently extending Alder's work to the problem of controlling flexible articulated structures manipulating payloads that themselves contain several bodies having unmodelled dynamics.

{Anatomy of an Experimental Two-link. A feed forward, sometimes written feedforward, is an element or pathway within a control system that passes a controlling signal from a source in its external environment to a load elsewhere in its external environment.

This is often a command signal from an external operator. A control system which has only feed-forward behavior responds to its control signal in a pre-defined way without. Addressing the difficult problem of controlling flexible spacecraft having multiple articulated appendages is the aim of this volume.

Such systems are needed for space mission concepts including multi-payload space platforms and autonomous space-based manipulators.

These systems are characterised. Figure 2. (a) Traditional rigid serial manipulators have a natural representation, which is the angle of each joint. Flexible manipulators to not have a natural representation.

(b) In this work, we propose to learn a representation that is useful for modeling and control from images of flexible manipulators using a convolutional neural network.

Linköping studies in science and technology. Thesis. No. On Modeling and Control of Flexible Manipulators Stig Moberg R E GL ERT KNI K A UT OMATIC CON T RFile Size: 6MB.“The problem with today’s world is that everyone believes they have the right to express their opinion AND have others listen to it.

The correct statement of individual rights is that everyone has the right to an opinion, but crucially, that opinion can be roundly ignored and even made fun of, particularly if it is demonstrably nonsense!”.This new book discusses the very latest developmens in modelling, simulation and control of flexible robot manipulators.

Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches, numerical modelling/simulation techniques and more.