Perturbation Techniques for Flexible Manipulators

  • Anthony R. Fraser
  • Ron W. Daniel

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Anthony R. Fraser, Ron W. Daniel
    Pages 1-7
  3. Anthony R. Fraser, Ron W. Daniel
    Pages 9-44
  4. Anthony R. Fraser, Ron W. Daniel
    Pages 45-78
  5. Anthony R. Fraser, Ron W. Daniel
    Pages 79-96
  6. Anthony R. Fraser, Ron W. Daniel
    Pages 97-117
  7. Anthony R. Fraser, Ron W. Daniel
    Pages 119-152
  8. Anthony R. Fraser, Ron W. Daniel
    Pages 153-186
  9. Anthony R. Fraser, Ron W. Daniel
    Pages 187-213
  10. Anthony R. Fraser, Ron W. Daniel
    Pages 215-223
  11. Back Matter
    Pages 225-275

About this book


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.


Gravitation Hub Motor Potential Trend actuator adaptive control complexity computer control electric motor filtering model robot sensor

Authors and affiliations

  • Anthony R. Fraser
    • 1
  • Ron W. Daniel
    • 2
  1. 1.BP International Ltd.UK
  2. 2.University of OxfordUK

Bibliographic information

  • DOI
  • Copyright Information Kluwer Academic Publishers 1991
  • Publisher Name Springer, Boston, MA
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4613-6775-8
  • Online ISBN 978-1-4615-3974-2
  • Series Print ISSN 0893-3405
  • Buy this book on publisher's site