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Flexible Manipulators

Book Description

The Intelligent Systems Series comprises titles that present state-of-the-art knowledge and the latest advances in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications.

Flexible manipulators play a critical role in applications in a diverse range of fields, such as construction automation, environmental applications, and space engineering. Due to the complexity of the link deformation and dynamics, the research effort on accurate modeling and high performance control of flexible manipulators has increased dramatically in recent years. This book presents analysis, data and insights that will of particular use for researchers and engineers working on the optimization and control of robotic manipulators and automation systems.

Government and industry groups have specifically stressed the importance of innovation in robotics, manufacturing automation, and control systems for maintaining innovation and high-value-added manufacturing

Discusses the latest research on the quantitative effects of size, shape, mass distribution, tip load, on the dynamics and operational performance of flexible manipulators

Presents unique analyses critical to the effective modeling and optimization of manipulators: hard to find data unavailable elsewhere.

Table of Contents

  1. Cover Image
  2. Table of Contents
  3. Title
  4. Intelligent Systems Series
  5. Copyright
  6. Preface
  7. Chapter 1. Introduction
    1. 1.1 Background and Problem Statement
    2. 1.2 Motivations
    3. 1.3 Organization of the Book
  8. Chapter 2. Past and Recent Works
    1. 2.1 Earlier Research on Flexible Manipulators
    2. 2.2 Recent Work on Flexible Manipulators
  9. Chapter 3. Modeling of Flexible Manipulators
    1. 3.1 Introduction
    2. 3.2 Problem Description and Energy Calculations
    3. 3.3 Derivation of Equations of Motion
    4. 3.4 Linearization of the Beam Dynamic Models
    5. 3.5 Finite-Dimensional Modeling of Flexible Manipulators
  10. Chapter 4. Analysis of Flexible Manipulators
    1. 4.1 Introduction
    2. 4.2 Dynamic Analysis of Vibrations of Flexible Manipulators Considering Effects of Rotary Inertia, Shear Deformation, and Tip Load
    3. 4.3 Passivity, Control, and Stability Analysis
  11. Chapter 5. Optimization of Flexible Manipulators
    1. 5.1 Optimum Design of Flexible Beams with a New Iteration Approach
    2. 5.2 Geometrically Constrained and Composite Material Designs
    3. 5.3 Optimum Shape Design of Flexible Manipulators with Tip Loads
    4. 5.4 Optimum Shape Construction with Total Weight Constraint
    5. 5.5 Minimum-Weight Design of Flexible Manipulators for a Specified Fundamental Frequency
    6. 5.6 Optimum Design of Flexible Manipulators: The Segmentized Solution
  12. Chapter 6. Mechatronic Design of Flexible Manipulators
    1. 6.1 Introduction
    2. 6.2 Overview of Mechatronics Design
    3. 6.3 Mechatronic Design of Flexible Manipulators Based on LQR with IHR Programming
    4. 6.4 Mechatronic Design of Flexible Manipulators-Based on H∞ with IHR Algorithm
    5. 6.5 Closed-Loop Design of Flexible Robotic Links
    6. 6.6 Concurrent Design
    7. 6.7 Concurrent Design of a Single-Link Flexible Manipulator Based on PID Controller
  13. Chapter 7. Conclusions and Future Research
  14. Index