Title Type neural network control of robot manipulators and non-linear systems series in systems and control PDF flexible robot manipulators modelling simulation and control control engineering series PDF modelling and control of robot manipulators advanced textbooks in control and signal processing PDF control of robot manipulators in joint space advanced textbooks in control and signal proces...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

The need for fast and precise robots in the industrial environment, capable of attending the productivity and quality demands and that allow a high volume of work, needs the usage of manipulators with flexible links. Besides this, aeronautic applications demand the usage of long and thin arms, which leads to remarkable structural changes. Therefore, the development of manipulators with structur...

Novel robotic applications have demanded lighter robots that can be driven using small amounts of energy, for example robotic booms in the aerospace industry, where lightweight manipulators with high performance requirements (high speed operation, better accuracy, high payload/weight ratio) are required (Wang & Gao, 2003). Unfortunately, the flexibility of these robots leads to oscillatory beha...

When we control a flexible manipulator based on a dynamic model, we need to estimate the state variables with accuracy. In the case of rigid manipulators, the state variables consist of joint angles and their velocities, which are measured easily by encoders, potentiometers, tachometers, and so on. In the case of flexible manipulators, however, the state variables also include elastic deformati...

cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...