Robust Control Algorithms for Flexible Manipulators
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Product details:
- Edition number 1
- Publisher CRC Press
- Date of Publication 18 October 2024
- ISBN 9781032384757
- Binding Hardback
- No. of pages236 pages
- Size 254x178 mm
- Weight 640 g
- Language English
- Illustrations 115 Illustrations, black & white; 17 Illustrations, color; 115 Line drawings, black & white; 17 Line drawings, color; 15 Tables, black & white 655
Categories
Short description:
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed.
MoreLong description:
Many modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are reviewed comprehensively. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
MoreTable of Contents:
Introduction. Survey on a Two-link Flexible Manipulator. Dynamic Modelling of a Two-link Flexible Manipulator. Design of Sliding Mode Controllers for a TLFM. Design of Controllers for a TLFM using the Singular Perturbation Technique. Generalised Projective Synchronisation between Lumped Parameter Modelled TLFMs. Synchronisation between Assumed Modes Modelled TLFMs. Projective Synchronisation between Assumed Modes and Lumped Parameter Modelled TLFMs. Conclusions and Future Work. Index.
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