Download Advanced Studies of Flexible Robotic Manipulators: Modeling, by Fei-Yue Wang, Yanqing Gao PDF

By Fei-Yue Wang, Yanqing Gao

Versatile robot manipulators pose numerous demanding situations in examine compared to inflexible robot manipulators, starting from process layout, structural optimization and building to modelling, sensing and regulate. even though major growth has been made in lots of facets over the last couple of many years, many matters aren't resolved but, and easy, potent and trustworthy controls of versatile manipulators nonetheless stay an open quest. essentially, extra efforts and ends up in this quarter will give a contribution considerably to robotics (particularly automation) in addition to its software and schooling often keep an eye on engineering. To speed up this method, the best specialists during this very important quarter search to provide the cutting-edge in complicated experiences of the layout, modelling, keep watch over and purposes of versatile manipulators.

Show description

Read Online or Download Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control, and Applications (Series in Intelligent Control and Intelligent Automation) PDF

Similar robotics & automation books

Flexible Robot Manipulators: Modelling, simulation and control

This e-book experiences contemporary and new advancements in modeling, simulation and keep watch over of versatile robotic manipulators. the fabric is gifted in 4 particular elements: various modeling methods together with classical thoughts according to the Lagrange equation formula, parametric ways in line with linear input/output versions utilizing approach id thoughts and neuro-modeling techniques; numerical modeling/simulation ideas for dynamic characterization of versatile manipulators utilizing the finite distinction, finite aspect, symbolic manipulation and customised software program strategies; quite a number open-loop and closed-loop regulate recommendations in accordance with classical and glossy clever keep an eye on equipment together with soft-computing and shrewdpermanent buildings for versatile manipulators; and software program environments for research, layout, simulation and regulate of versatile manipulators.

Static and Dynamic Performance Limitations for High Speed D/A Converters

Static and Dynamic functionality barriers for prime velocity D/A Converters discusses the layout and implementation of excessive velocity current-steering CMOS digital-to-analog converters. ranging from the definition of the fundamental requisites for a D/A converter, the weather deciding on the static and dynamic functionality are pointed out.

Fractional Order Motion Controls

Masking fractional order conception, simulation and experiments, this e-book explains how fractional order modelling and fractional order controller layout compares favourably with conventional speed and place keep an eye on structures. The authors systematically evaluate the 2 techniques utilizing utilized fractional calculus.

FIRST Robots: Aim High: Behind the Design

Own robots are approximately as complicated this day as own pcs have been at the eve of the 1st IBM workstation within the early Nineteen Eighties. they're nonetheless the area of hobbyists who cobble them jointly from scratch or from kits, sign up for neighborhood golf equipment to switch code and level contests, and whose exertions of affection is surroundings the degree for a technological revolution.

Additional resources for Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control, and Applications (Series in Intelligent Control and Intelligent Automation)

Sample text

9 ,. ,, = "A3 I j +<7 kc,5 . 4 is similar to that given in [Dawson et al. (1991)], although here it is used to increase damping, rather than to consider possible uncertainties in the manipulator model. Notice that it is always possible to get A3 > 0 just by letting the elements of Kp$ be large enough. In order to show that the damping of the system becomes greater, assume that x is negligible and that D$ = O. In this case, the vector D&5d + f represents the damping of the system. By factorizing every element of this vector as Sdijdij \ lJ %0 1 - —k \\odijS5ij\\ +£ije P"1) , it can be seen that 6d is damped because the second factor belongs to the open set (0,2).

By factorizing every element of this vector as Sdijdij \ lJ %0 1 - —k \\odijS5ij\\ +£ije P"1) , it can be seen that 6d is damped because the second factor belongs to the open set (0,2). This becomes clearer if one considers again the case when 0d is constant. The dynamics of Sd is described by Hssh + CS56d + DASd + K5d + gs + f = 0. 170) becomes HSsy + CS5y + DAy + Ky + f(y) = 0. 172) mi s . = - Y Y ( diiVu ~ date 7, 71 TTli / . \ V 4^- ^r I v <0. 171) can be proven by using the same argument as before.

199) 9A M ( - W A g + / W n + AP) , n , , 7——c 4 Xm[\d + kd\h - kcvm) > T A v > TT—7X——;—r 4 Xm{Xd + kd\h V2z2m > ^ ; - r kcvm) — AmApo! 9. 210) «=i j = i /3 = min{ / 0y, i = l , . . , n ; j = l , . . 211) \d+kd\h-kcv (AmAPd+AmAge)(Ad + fcdAfe-fcct;7n)-|AM(AMAg + fcei;m+Ap) fc c(A^Apd + A m A ge +A| f (Ad + fc(iAh-/jci;m)) Apd(A d +A;dA ft -fc c u m )-|(AMAH + fccVm+Ap)2 &c (Apd + Ad+fcdA/t - kcv„ A . 217) Amin(-KPDS) + Xm[n(D A ) } • Proof: a) Firstly, the stability of the whole system will be proven.

Download PDF sample

Rated 4.62 of 5 – based on 23 votes