Table of contents

About this book

Introduction

This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear observers and sliding control.
The study of dynamic properties and control techniques for flexible-link manipulators can also be a framework for designing the mechanical shape and material of these systems such that improved properties can be achieved in order to facilitate the control problem. Therefore, structural shape optimization is considered as a means of improving the dynamic behaviour of flexible-link manipulators.

Keywords

Dynamic Modeling Nonlinear Robotics Tracking control feedback nonlinear control optimization robot shape optimization simulation stability

Bibliographic information

  • DOI https://doi.org/10.1007/BFb0110149
  • Copyright Information Springer-Verlag London Limited 2000
  • Publisher Name Springer, London
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-85233-333-1
  • Online ISBN 978-1-84628-555-4
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
  • About this book