Robotic Manipulators : Modeling, Design, Control and Aplications

"state of art of advanced studies in design, modeling, control and applications of flexible manipulators, from the leading experts in this important research area".



Description :
            Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest.A common way of modeling flexible robot manipulators is using the socalled combined Lagrange-assumed modes approach [Book (1984); De Luca and Siciliano (1991); Yuan et al. (1993); Canudas de Wit et al. (1996); Arteaga (1998)].
In this case, it is necessary to describe the kinetic and potential energy of the system adequately. In order to compute them, it is advantageous to know the kinematics of the manipulator, which can be achieved by setting coordinate frames along the joint axes. the kinematics of flexible robot manipulators is briefly studied. By using Lagrange equations of motion, the dynamic model of this class of manipulators its most important properties are presented.
 Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators.

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