Get Advanced Studies of Flexible Robotic Manipulators: Modeling, PDF

By Fei-Yue Wang, Yanqing Gao

ISBN-10: 9812383905

ISBN-13: 9789812383907

ISBN-10: 981279672X

ISBN-13: 9789812796721

Versatile robot manipulators pose a variety of demanding situations in examine compared to inflexible robot manipulators, starting from procedure layout, structural optimization and development to modelling, sensing and keep an eye on. even if major development has been made in lots of features over the last couple of many years, many matters should not resolved but, and straightforward, powerful and trustworthy controls of versatile manipulators nonetheless stay an open quest. truly, extra efforts and leads to this region will give a contribution considerably to robotics (particularly automation) in addition to its software and schooling as a rule keep watch over engineering. To speed up this approach, the top specialists during this very important quarter search to give the cutting-edge in complex stories of the layout, modelling, keep an eye on and purposes of versatile manipulators.

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

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1 with Ai, A2, A3. 127)), such that the dynamics of 8d and Sd can be expressed as Huso = -(Cssso + KpDSSo + KSd + fr + f + DASd). 129)). 161) X2 = l max A max (M). e. 149). g{Sdn,... /nmJr (1-165) k = Ti ^ 0 llodij-StfijH + eije «. (L166) P"* and since ||/y|| < 1, Vi = 1,... ,n, j — l , . . max A max ( £ > A ) v ^ | M ) . 168) Eq. DA)-\/m ll^ll) (P) - (1 + A max +(1 + A max (Ai))/ r (A5)) Amax (D A ) \M) 11 xs \ | 2 ,max \\xs\\ A . 9 ,. ,, = "A3 I j +<7 kc,5 . 4 is similar to that given in [Dawson et al.

Since the mode shapes are orthogonal [Meirovitch (1967)], the result of the integrals must be zero if j ^ k and positive otherwise. Eq. 77) follows from the fact that K is positive definite. A Regarding the matrix D of link modal damping and joint viscous friction, the following property can be established. 5 The matrix D is diagonal positive semidefinite and satisfies A m i n (D)||x|| 2 < xTDx < A m a x (D)||x|| 2 V* € »"+"*. 52)). Assuming it to be diagonal is actually a special but very important and common case of the definition of the Rayleigh's dissipation function [Meirovitch (1967)].

E. > + \qT (H(q) - 2C(q, q)) q. 65) is valid for any possible choice of C(q, q). The following property holds for the vector hc(q,q) of Coriolis and centrifugal torques. 75) ma J \ ££cy>x)- »=i j=o y«=i /3=o / A Flexible-link Manipulators: Modeling, Nonlinear Control and Observer 17 Due to the orthogonality of the modes shapes of a flexible-link manipulator, the following property can be obtained. 4 satisfies The stiffness matrix K is diagonal and positive definite and Amin(-SOI|a:||2 < xTKx < A max (i<:)||x|| 2 Vx e » m .

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Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control, and Applications (Series in Intelligent Control and Intelligent Automation) by Fei-Yue Wang, Yanqing Gao


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