Download or read book Control of Flexible link Manipulators Using Neural Networks written by H.A. Talebi and published by Springer Science & Business Media. This book was released on 2001-01-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links. The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties. Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance. This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties. To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work. Four different neural network schemes are proposed and implemented on the experimental test-bed. The neural networks are trained and employed as online controllers.

Download or read book Masters Theses in the Pure and Applied Sciences written by Wade H. Shafer and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Masters Theses in the Pure and Applied Sciences was first conceived, published, and disseminated by the Center for Information and Numerical Oata Analysis and Synthesis (CINOAS) * at Purdue. University in 1957, starting its coverage of theses with the academic year 1955. Beginning with Volume 13, the printing and dissemination phases of the activity were transferred to University Microfilms/Xerox of Ann Arbor, Michigan, with the thought that such an arrangement would be more beneficial to the academic and general scientific and technical community. After five years of this joint undertaking we had concluded that it was in the interest of all con cerned if the printing and distribution of the volumes were handled by an interna tional publishing house to assure improved service and broader dissemination. Hence, starting with Volume 18, Masters Theses in the Pure and Applied Sciences has been disseminated on a worldwide basis by Plenum Publishing Cor poration of New York, and in the same year the coverage was broadened to include Canadian universities. All back issues can also be ordered from Plenum. We have reported in Volume 33 (thesis year 1988) a total of 13,273 theses titles from 23 Canadian and 1 85 United States universities. We are sure that this broader base for these titles reported will greatly enhance the value of this important annual reference work. While Volume 33 reports theses submitted in 1988, on occasion, certain univer sities do report theses submitted in previous years but not reported at the time.

Download or read book Active Vibration Control and Stability Analysis of Flexible Beam Systems written by Wei He and published by Springer. This book was released on 2018-12-17 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents theoretical explorations of several fundamental problems in the dynamics and control of flexible beam systems. By integrating fresh concepts and results to form a systematic approach to control, it establishes a basic theoretical framework. It includes typical control design examples verified using MATLAB simulation, which in turn illustrate the successful practical applications of active vibration control theory for flexible beam systems. The book is primarily intended for researchers and engineers in the control system and mechanical engineering community, offering them a unique resource.

Download or read book Piezoelectric Actuators written by Seung-Bok Choi and published by CRC Press. This book was released on 2016-04-19 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, many smart materials exhibit one or multifunctional capabilities that are being effectively exploited in various engineering applications, but these are only a hint of what is possible. Newer classes of smart materials are beginning to display the capacity for self-repair, self-diagnosis, self-multiplication, and self-degradation. Ultimately, what will make them practical and commercially viable are control devices that provide sufficient speed and sensitivity. While there are other candidates, piezoelectric actuators and sensors are proving to be the best choice. Piezoelectric Actuators: Control Applications of Smart Materials details the authors’ cutting-edge research and development in this burgeoning area. It presents their insights into optimal control strategies, reflecting their latest collection of refereed international papers written for a number of prestigious journals. Piezoelectric materials are incorporated in devices used to control vibration in flexible structures. Applications include beams, plates, and shells; sensors and actuators for cabin noise control; and position controllers for structural systems such as the flexible manipulator, engine mount, ski, snowboard, robot gripper, ultrasonic motors, and various type of sensors including accelerometer, strain gage, and sound pressure gages. The contents and design of this book make it useful as a professional reference for scientists and practical engineers who would like to create new machines or devices featuring smart material actuators and sensors integrated with piezoelectric materials. With that goal in mind, this book: Describes the piezoelectric effect from a microscopic point of view Addresses vibration control for flexible structures and other methods that use active mount Covers control of flexible robotic manipulators Discusses application to fine-motion and hydraulic control systems Explores piezoelectric shunt technology This book is exceptionally valuable as a reference for professional engineers working at the forefront of numerous industries. With its balanced presentation of theory and application, it will also be of special interest to graduate students studying control methodology.

Download or read book Mechatronics 98 written by J. Adolfsson and published by Elsevier. This book was released on 1998-08-28 with total page 941 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechatronics, a synergistic combination of mechanical, electronic and computing engineering technologies, is a truly multidisciplinary approach to engineering. New products based on mechatronic principles are demonstrating reduced mechanical complexity, increased performance and often previously impossible capabilities. This book contains the papers presented at the UK Mechatronics Forum's 6th International Conference, held in Skövde, Sweden, in September 1998. Many of these high-quality papers illustrate the tremendous influence of mechatronics on such areas as manufacturing machinery, automotive engineering, textiles manufacture, robotics, and real-time control and vision systems. There are also papers describing developments in sensors, actuators, control and data processing techniques, such as fuzzy logic and neural networks, all of which have practical application to mechatronic systems.

Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Download or read book Perturbation Techniques for Flexible Manipulators written by Anthony R. Fraser and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: A manipulator, or 'robot', consists of a series of bodies (links) connected by joints to form a spatial mechanism. Usually the links are connected serially to form an open chain. The joints are either revolute (rotary) or prismatic (telescopic), various combinations of the two giving a wide va riety of possible configurations. Motive power is provided by pneumatic, hydraulic or electrical actuation of the joints. The robot arm is distinguished from other active spatial mechanisms by its reprogrammability. Therefore, the controller is integral to any de scription of the arm. In contrast with many other controlled processes (e. g. batch reactors), it is possible to model the dynamics of a ma nipulator very accurately. Unfortunately, for practical arm designs, the resulting models are complex and a considerable amount of research ef fort has gone into improving their numerical efficiency with a view to real time solution [32,41,51,61,77,87,91]. In recent years, improvements in electric motor technology coupled with new designs, such as direct-drive arms, have led to a rapid increase in the speed and load-carrying capabilities of manipulators. However, this has meant that the flexibility of the nominally rigid links has become increasingly significant. Present generation manipulators are limited to a load-carrying capacity of typically 5-10% of their own weight by the requirement of rigidity. For example, the Cincinatti-Milicron T3R3 robot weighs more than 1800 kg but has a maximum payload capacity of 23 kg.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Applied mechanics reviews written by and published by . This book was released on 1948 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fractional order Systems and Controls written by Concepción A. Monje and published by Springer Science & Business Media. This book was released on 2010-09-28 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fractional-order Systems and Controls details the use of fractional calculus in the description and modeling of systems, and in a range of control design and practical applications. It is largely self-contained, covering the fundamentals of fractional calculus together with some analytical and numerical techniques and providing MATLAB® codes for the simulation of fractional-order control (FOC) systems. Many different FOC schemes are presented for control and dynamic systems problems. Practical material relating to a wide variety of applications is also provided. All the control schemes and applications are presented in the monograph with either system simulation results or real experimental results, or both. Fractional-order Systems and Controls provides readers with a basic understanding of FOC concepts and methods, so they can extend their use of FOC in other industrial system applications, thereby expanding their range of disciplines by exploiting this versatile new set of control techniques.

Download or read book Robotics Research written by and published by . This book was released on 1988 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robust Control Algorithms for Flexible Manipulators written by Kshetrimayum Lochan and published by CRC Press. This book was released on 2024-10-13 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.

Download or read book Knowledge Engineering and Management written by Fuchun Sun and published by Springer Science & Business Media. This book was released on 2013-07-24 with total page 702 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings present technical papers selected from the 2012 International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2012), held on December 15-17 in Beijing. The aim of this conference is to bring together experts from different fields of expertise to discuss the state-of-the-art in Intelligent Systems and Knowledge Engineering, and to present new findings and perspectives on future developments. The proceedings introduce current scientific and technical advances in the fields of artificial intelligence, machine learning, pattern recognition, data mining, knowledge engineering, information retrieval, information theory, knowledge-based systems, knowledge representation and reasoning, multi-agent systems, and natural-language processing, etc. Furthermore they include papers on new intelligent computing paradigms, which combine new computing methodologies, e.g., cloud computing, service computing and pervasive computing with traditional intelligent methods. By presenting new methodologies and practices, the proceedings will benefit both researchers and practitioners who want to utilize intelligent methods in their specific fields. Dr. Fuchun Sun is a professor at the Department of Computer Science & Technology, Tsinghua University, China. Dr. Tianrui Li is a professor at the School of Information Science & Technology, Southwest Jiaotong University, Chengdu, China. Dr. Hongbo Li also works at the Department of Computer Science & Technology, Tsinghua University, China.

Download or read book Control Problems in Robotics written by Antonio Bicchi and published by Springer Science & Business Media. This book was released on 2007-07-12 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.

Download or read book Technology for Large Space Systems written by and published by . This book was released on 1990 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fuzzy If Then Rules in Computational Intelligence written by Da Ruan and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 323 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last three decades, interest has increased significantly in the representation and manipulation of imprecision and uncertainty. Perhaps the most important technique in this area concerns fuzzy logic or the logic of fuzziness initiated by L. A. Zadeh in 1965. Since then, fuzzy logic has been incorporated into many areas of fundamental science and into the applied sciences. More importantly, it has been successful in the areas of expert systems and fuzzy control. The main body of this book consists of so-called IF-THEN rules, on which experts express their knowledge with respect to a certain domain of expertise. Fuzzy IF-THEN Rules in Computational Intelligence: Theory and Applications brings together contributions from leading global specialists who work in the domain of representation and processing of IF-THEN rules. This work gives special attention to fuzzy IF-THEN rules as they are being applied in computational intelligence. Included are theoretical developments and applications related to IF-THEN problems of propositional calculus, fuzzy predicate calculus, implementations of the generalized Modus Ponens, approximate reasoning, data mining and data transformation, techniques for complexity reduction, fuzzy linguistic modeling, large-scale application of fuzzy control, intelligent robotic control, and numerous other systems and practical applications. This book is an essential resource for engineers, mathematicians, and computer scientists working in fuzzy sets, soft computing, and of course, computational intelligence.

Download or read book Flexible Manipulators written by Yanqing Gao and published by Academic Press. This book was released on 2012-04-16 with total page 269 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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