Flexible Robot Manipulators : Modelling, Simulation and Control

The book reports recent and new developments in modelling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: (i) a range of modelling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, and neuro-modelling approaches; (ii) numerical modelling/simulation techniques for dynamic characterisation of flexible manipulators using the finite difference, finite element, symbolic manipulation and customised software techniques; (iii) a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and (iv) software environments for analysis, design, simulation and control of flexible manipulators

Preface
List of Contributors
List of Abbreviations
List of Notations

Chapter 1 : Flexible Manipulators-An Overview
Chapter 2 : Modelling of a Single-Link Flexible Manipulator System : Theoretical and Practical Investigations
Chapter 3 : Classical Mechanics Approach of Modelling Multi-Link Flexible Manipulators
Chapter 4 : Parametric and Non-Parametric Modelling of Flexible Manipulators
Chapter 5 : Finite Difference and Finite Element Simulation of Flexible Manipulators
Chapter 6 : Dynamic Characterisation of Flexible Manipulators Using Symbolic Manipulation
Chapter 7 : Flexible Space Manipulators : Modelling,Simulation, Ground Validation and Space Operation
Chapter 8 : Open-Loop Control of Flexible Manipulators Using Command-Generation Techniques
Chapter 9 : Control of Flexible Manipulators with Input Shaping Techniques
Chapter 10 : Enhanced PID-Type Classical Control of Flexible Manipulators
Chapter 11 : Force and Position Control of Flexible Manipulators
Chapter 12 : Collocated and Non-Collocated Control of Flexible Manipulators
Chapter 13 : Decoupling Control of Flexible Manipulators
Chapter 14 : Modelling and Control of Space Manipulators with Flexible Links
Chapter 15 : Soft Computing Approaches for Control of a Flexible Manipulator
Chapter 16 : Modelling and Control of Smart Material Flexible Manipulators
Chapter 17 : Modelling and Control of Rigid-Flexible Manipulators
Chapter 18 : Analysis and Design Environment for Flexible Manipulators
Chapter 19 : SCEFMAS - An Environment for Simulation and Control of Flexible Manipulator Systems

References
Index