Robotics Automation

Download Flexible Robot Manipulators: Modelling, simulation and by M.O. Tokhi, A.K.M. Azad PDF

By M.O. Tokhi, A.K.M. Azad

This ebook experiences fresh and new advancements in modeling, simulation and regulate of versatile robotic manipulators. the cloth is gifted in 4 distinctive elements: a number of modeling techniques together with classical thoughts in response to the Lagrange equation formula, parametric methods in response to linear input/output types utilizing process id ideas and neuro-modeling techniques; numerical modeling/simulation thoughts for dynamic characterization of versatile manipulators utilizing the finite distinction, finite aspect, symbolic manipulation and customised software program ideas; a number open-loop and closed-loop keep an eye on strategies in response to classical and smooth clever regulate equipment together with soft-computing and clever buildings for versatile manipulators; and software program environments for research, layout, simulation and keep watch over of versatile manipulators.

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Flexible Robot Manipulators: Modelling, simulation and control

This publication studies contemporary and new advancements in modeling, simulation and regulate of versatile robotic manipulators. the cloth is gifted in 4 designated elements: more than a few modeling techniques together with classical thoughts in line with the Lagrange equation formula, parametric methods according to linear input/output versions utilizing approach id options and neuro-modeling techniques; numerical modeling/simulation suggestions for dynamic characterization of versatile manipulators utilizing the finite distinction, finite point, symbolic manipulation and customised software program recommendations; a number of open-loop and closed-loop regulate innovations in response to classical and glossy clever regulate tools together with soft-computing and shrewdpermanent buildings for versatile manipulators; and software program environments for research, layout, simulation and regulate of versatile manipulators.

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In this work, a model-based predictive control scheme is adopted for the known dynamics and unsupervised NN-based control scheme is utilized to control the unknown system dynamics. Identification and control are implemented as a two-stage process where identification of the unknown part of the system is done using a NN in supervised learning mode. Talebi et al. (1997) proposed a NN-based adaptive controller for a single flexible-link manipulator. Output redefined approach is used in designing the controller.

Unlike many other experimental setups, the motion of the link is not artificially constrained in any plane within the safe working envelope. The link is symmetrical about its longitudinal axis, and this axis intersects both horizontal and vertical drive axes at the hub. Horizontal and vertical end-point displacements of the link are calculated based on two measurements. First, the position of the link end-point in relation to the hub axis (θflex ) is measured using a precision potentiometer. 2% ± 3 × 10−3 rad 14 bit 16 bit 24 bit (θ ) measured by an incremental optical encoder.

Active control of FMSs can in general be divided into two categories: open-loop and closed-loop control. Open-loop control involves altering the shape of actuator commands by considering the physical and vibration properties of the FMS. The approach may account for changes in the system after the control input is developed. Closed-loop control differs from openloop control in that it uses measurements of the system state and change the actuator input accordingly to reduce the system response oscillation.

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