Flexible Manipulators
Modeling, Analysis and Optimum Design
- 1st Edition - April 16, 2012
- Latest edition
- Authors: Yanqing Gao, Fei-Yue Wang, Zhi-Quan Zhao
- Language: English
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,… Read more
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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
Electrical and Electronic Engineers; Mechanical Engineers; Computer Engineers; Intelligent Systems specialists
- Preface
- Chapter 1. Introduction
- 1.1 Background and Problem Statement
- 1.2 Motivations
- 1.3 Organization of the Book
- REFERENCES
- Chapter 2. Past and Recent Works
- 2.1 Earlier Research on Flexible Manipulators
- 2.2 Recent Work on Flexible Manipulators
- REFERENCES
- Chapter 3. Modeling of Flexible Manipulators
- 3.1 Introduction
- 3.2 Problem Description and Energy Calculations
- 3.3 Derivation of Equations of Motion
- 3.4 Linearization of the Beam Dynamic Models
- 3.5 Finite-Dimensional Modeling of Flexible Manipulators
- REFERENCES
- Chapter 4. Analysis of Flexible Manipulators
- 4.1 Introduction
- 4.2 Dynamic Analysis of Vibrations of Flexible Manipulators Considering Effects of Rotary Inertia, Shear Deformation, and Tip Load
- 4.3 Passivity, Control, and Stability Analysis
- REFERENCES
- Chapter 5. Optimization of Flexible Manipulators
- 5.1 Optimum Design of Flexible Beams with a New Iteration Approach
- 5.2 Geometrically Constrained and Composite Material Designs
- 5.3 Optimum Shape Design of Flexible Manipulators with Tip Loads
- 5.4 Optimum Shape Construction with Total Weight Constraint
- 5.5 Minimum-Weight Design of Flexible Manipulators for a Specified Fundamental Frequency
- 5.6 Optimum Design of Flexible Manipulators: The Segmentized Solution
- REFERENCES
- Chapter 6. Mechatronic Design of Flexible Manipulators
- 6.1 Introduction
- 6.2 Overview of Mechatronics Design
- 6.3 Mechatronic Design of Flexible Manipulators Based on LQR with IHR Programming
- 6.4 Mechatronic Design of Flexible Manipulators-Based on H∞ with IHR Algorithm
- 6.5 Closed-Loop Design of Flexible Robotic Links
- 6.6 Concurrent Design
- 6.7 Concurrent Design of a Single-Link Flexible Manipulator Based on PID Controller
- REFERENCES
- Chapter 7. Conclusions and Future Research
- Index
- Edition: 1
- Latest edition
- Published: April 16, 2012
- Language: English
YG
Yanqing Gao
Affiliations and expertise
Research scientist at University of Arizona, USA.FW
Fei-Yue Wang
Fei-Yue Wang received his Ph.D. degree in computer and systems engineering from the Rensselaer Polytechnic Institute, Troy, NY, USA, in 1990. He joined The University of Arizona in 1990 and became a Professor and the Director of the Robotics and Automation Laboratory and the Program in Advanced Research for Complex Systems. In 1999, he founded the Intelligent Control and Systems Engineering Center at the Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China, and in 2002, was appointed as the Director of the Key Laboratory of Complex Systems and Intelligence Science, CAS. In 2011, he became the State Specially Appointed Expert and the Director of the State Key Laboratory for Management and Control of Complex Systems. He is a FELLOW of IEEE, INCOSE, IFAC, ASME, and AAAS. Since 1997, he has been serving as the General or Program Chair of over 30 IEEE, INFORMS, IFAC, ACM, and ASME conferences. He was the President of the IEEE ITS Society from 2005 to 2007, the Vice President of the ACM China Council from 2010 to 2011, and the Vice President and the Secretary-General of the Chinese Association of Automation from 2008-2018. He was the Founding Editor-in-Chief (EiC) of the International Journal of Intelligent Control and Systems from 1995 to 2000, the IEEE ITS Magazine from 2006 to 2007, the IEEE/CAA JOURNAL OF AUTOMATICA SINICA from 2014-2017. He was the EiC of the IEEE Intelligent Systems from 2009-2012, the IEEE TRANSACTIONS ON Intelligent Transportation Systems from 2009-2016, and is the EiC of the IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL SYSTEMS from 2017-2020. Currently, he is the President of CAA's Supervision Council, IEEE Council on RFID, and Vice President of IEEE Systems, Man, and Cybernetics Society.
Affiliations and expertise
Professor, Institute of Automation, Chinese Academy of Sciences, Qingdao Academy of Intelligent Industries, Beijing, ChinaZZ
Zhi-Quan Zhao
Affiliations and expertise
Assistant Professor at Wuhan Textile University, China.Read Flexible Manipulators on ScienceDirect