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Table Of Contents

1.4.2 Flexible manipulators for industrial applications
2.3 Mode shapes
2.4 State-space model
2.5 Transfer function model
2.6 Experimentation
2.6.1 Natural frequencies
2.6.2 Damping ratios
2.6.3 Modal gain
2.7 Model validation
2.8 Summary
3.1 Introduction
3.2 Kinematics: the reference frames
3.2.1 Deformation assumptions
3.2.2 Kinematics of a flexible link
3.3 The strain–displacement relations
3.3.1 Parameterisation of the rotation matrix
3.3.2 Parameterisation of the neutral axis tangent vector
3.3.3 Displacement of the neutral axis
3.4 The dynamic model of a single flexible link
3.4.1 The inertial force term
3.5.2 Dynamics of a rigid body
3.5.3 Dynamics of a rigid–flexible–rigid body
3.5.4 Dynamics of a serial multi-RFR body system
3.6 Summary
4.1 Introduction
4.2 Parametric identification techniques
4.2.1 LMS algorithm
4.2.2 RLS algorithm
4.2.3 Genetic algorithms
4.3 Non-parametric identification techniques
4.3.1 Multi-layered perceptron neural networks
4.3.2 Radial basis function neural networks
4.4 Model validation
4.5 Data pre-processing
4.6 Experimentation and results
4.6.1 Parametric modelling
4.6.2 Non-parametric modelling
4.6.2.1 Modelling with MLP NN
4.6.2.2 Modelling with RBF NN
4.7 Comparative assessment
4.8 Summary
5.1 Introduction
5.2 The flexible manipulator system
5.3 The FD method
5.3.1 Development of the simulation algorithm
5.3.2 The hub displacement
5.3.3 The end-point displacement
5.3.4 Matrix formulation
5.3.5 State-space formulation
5.4 The FE/Lagrangian method
5.4.1 Elemental matrices
5.4.1.1 Scalar energy functions
5.4.2 A single-link flexible manipulator
5.4.3 A two-link flexible manipulator
5.5 Validation of the FD and FE/Lagrangian methods
5.5.1 The experimental manipulator system
5.5.2 Simulation and experiments
5.6 Summary
6.1 Introduction
6.2 FE approach to symbolic modelling
6.2.1 The flexible manipulator
6.2.2 Dynamic equation of motion
6.2.3 Transfer functions
6.2.4 Analysis
6.2.4.1 System without payload and hub inertia
6.2.4.2 System with payload
6.2.5 Validation and performance analysis
6.3.2 Dynamic modelling
6.3.3 Transfer functions
6.3.4 Rational Laplace domain transfer functions
6.3.5 Experimental system
6.3.6 Experimental results
6.4 Summary
7.1 Introduction
7.2 Symofros
7.2.1 Overview
7.2.2 Software architecture
7.3 Experimental validation
7.3.1.1 Experimental set-up
7.3.1.2 Simulation results
7.3.2.1 Flexible manipulator kinematics
7.3.2.2 Statics
7.3.2.3 End-point detection using strain gauges
7.4 SPDM task verification facility
7.4.1 Background
7.4.2 SPDM task verification facility concept
7.4.3 SPDM task verification facility test-bed
7.4.3.3 Computer architecture
7.4.3.4 ORUs and worksite
7.4.4.2 Experiments, simulations and results
7.5 On-orbit MSS training simulator
7.5.1 On-orbit training and simulation
7.5.2 Hardware architecture
7.5.3 Software architecture
7.5.4 Simulation validation
7.5.5 Symofros simulator engine
7.5.6 Analysis module
7.5.7 Ground and on-orbit results
7.6 Summary
7.7 Acknowledgements
8.1 Introduction
8.2 Identification of natural frequencies
8.2.1 Analytical approach
8.2.2 Experimental approach
8.2.3 Genetic modelling
8.2.4 Neural modelling
8.3 Gaussian shaped torque input
8.4 Shaped torque input
8.5 Filtered torque input
8.6 Experimentation and results
8.6.1 Unshaped bang-bang torque input
8.6.2 Shaped torque input
8.6.3 Gaussian shaped input
8.6.4 Filtered input torque
8.6.5 System with payload
8.7 Comparative performance assessment
8.8 Summary
Control of flexible manipulators with input shaping techniques
9.1 Introduction
9.2 Command generation
9.2.1 Gantry crane example
9.2.2 Generating zero vibration commands
9.2.4 Robustness to modelling errors
9.2.5 Multi-mode input shaping
9.2.6 Real-time implementation
9.2.7 Trajectory following
9.2.8 Applications
9.3 Feedforward control action
9.3.2 Zero phase error tracking control
9.4 ZPETC as command shaping
9.5 Summary
10.1 Introduction
10.2 Single-input single-output PI–PD
10.2.1 Basic algorithm
10.2.2 Discrete-time algorithm
10.3 Multi-input multi-output PI–PD
10.3.1 Basic notations
10.3.2 Decoupling algorithm
10.3.2.1 Strategy A
10.3.2.2 Strategy B
10.3.2.3 Strategy C
10.4 Experimental set-up
10.5 Simulation and experimental results
10.6 Summary
Force and position control of flexible manipulators
11.1 Introduction
11.2 Modelling
11.3 Indirect force and position regulation
11.3.1 First stage
11.3.2 Second stage
11.3.3 Simulation
11.4 Direct force and position control
11.4.1 Composite control strategy
11.4.2 Force and position regulation
11.4.3 Force regulation and position tracking
11.4.4 Simulation
11.5 Summary
12.1 Introduction
12.2 JBC control
12.2.1 Simulation results
12.2.2 Experimental results
12.3.1 Simulation results
12.4 Adaptive JBC control
12.4.1 Simulation results
12.4.2 Experimental results
12.5 Adaptive collocated and non-collocated control
12.5.1 Simulation results
12.5.2 Experimental results
13.3.1 Rigid–flexible robot case
13.3.2 Modelling the 2D flexible robot
13.4 Pre-compensator design
13.4.1 Rigid–flexible robot case
13.4.2 2D flexible robot case
13.5 Jacobian control of a 1D flexible manipulator
13.5.1 Jacobian control
13.5.2 Control results
13.6 Summary
Modelling and control of space manipulators with flexible links
14.1 Introduction
14.2 Model of flexible manipulators
14.3 VRM concept
14.3.1 Definition of VRM
14.3.2 Kinematic relations of RFM and VRM
14.4 PD-control
14.4.1 PD-control for joint variables
14.4.2 Stability of linearised system
14.4.3 Stability of original non-linear system
14.5 Control using VRM concept
14.5.1 Control methods using the VRM concept
14.5.2 Asymptotic stability of positioning control
14.5.3 Stability of continuous path control
14.6 Control examples
14.6.1 Positioning control
14.6.2 Path control: hardware experiment
14.6.3 Composite control
14.7 Summary
14.8 Acknowledgement
Soft computing approaches for control of a flexible manipulator
15.1 Introduction
15.2 The flexible manipulator system
15.3 Modular NN controller
15.3.1 Genetic representation of MNN architecture
15.3.1.1 Genetic encoding of NNs
15.3.1.2 Genetic learning for NN
15.3.2 Implementation and simulation results
15.3.2.1 End-point position tracking
15.3.2.2 Performance ofMNN controller
15.4 FL control of a flexible-linkmanipulator
15.4.1 PD-type fuzzy logic control
15.4.2 PI-type fuzzy logic control
15.4.2.1 Integralwind-up action
15.4.3 PID-type fuzzy logic controller
15.4.3.1 PD–PI-type fuzzycontroller
15.4.3.2 Experimental results
15.4.4 GA optimisation of fuzzy controller
15.4.4.2 Experimental results
15.5 Summary
16.2.2.1 FE analysis
16.2.2.2 Dynamic equations
16.3 Model-free regulation of smart material robots
16.3.1 System description
16.3.2 Model-free controller design
16.3.2.1 Decentralised model-free control
16.3.2.2 Centralised model-free controller
16.4 Tracking control of smart material robots
16.4.1 Singular perturbed smart material robots
16.4.2 Adaptive composite controller design
16.4.2.1 Adaptive control of the slow subsystem
16.4.2.2 Stabilisation of fast subsystem
16.5 Summary
Modelling and control of rigid–flexible manipulators
17.1 Introduction
17.2 Dynamic modelling
17.2.1 Discrete equations of motion
17.2.2 Convergence of the solution
17.3 Coupling between rigid and flexible motion
17.4 Impact response
17.5 Control of rigid–flexible manipulators
17.5.2 Closed-loop simulations
17.6 Summary
Analysis and design environment for flexible manipulators
18.1 Introduction
18.2 Computer aided control engineering design paradigm
18.3 Mechatronic Simulink library
18.4 Design models
18.4.1 Dynamics of actuators
18.4.2 Modal models
18.4.3 FE model
18.5 Control design
18.6 CACE environment
18.7 Summary
19.1 Introduction
19.2 The flexible manipulator system
19.3 Structure of SCEFMAS
19.3.1 FD simulation and control
19.3.1.1 FD simulation algorithm
19.3.1.2 Controller designs
19.3.2 Intelligent modelling and model validation
19.3.2.1 NNmodelling
19.3.2.2 GA modelling
19.3.3 Graphical user interfaces
19.3.3.1 SCEFMAS_V2 GUI
19.3.3.2 Results GUI
19.3.3.3 NNmodelling and validation GUIs
19.3.3.4 GA modelling and validation GUI
19.4 Case studies
19.4.1 Open-loop FD simulation
19.4.2 Adaptive inverse dynamic active control
19.4.3 NN modelling and validation
19.4.4 GA modelling and validation
19.5 Summary
References
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2008 IET FlexibleRobotManipulators

2008 IET FlexibleRobotManipulators

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Published by: katdaddy1 on Jun 14, 2012
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10/31/2013

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