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Perturbation Techniques for Flexible Manipulators

  • Book
  • © 1991

Overview

Authors:
  1. Anthony R. Fraser

    1. BP International Ltd., UK

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    You can also search for this author in PubMed   Google Scholar

  2. Ron W. Daniel

    1. University of Oxford, UK

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    You can also search for this author in PubMed   Google Scholar

Part of the book series: The Springer International Series in Engineering and Computer Science (SECS, volume 138)

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xvii
    Download chapter PDF

  2. Introduction

    • Anthony R. Fraser, Ron W. Daniel
    Pages 1-7

  3. Present trends in the dynamics and control of flexible manipulators

    • Anthony R. Fraser, Ron W. Daniel
    Pages 9-44

  4. Dynamic model of a single-link flexible manipulator

    • Anthony R. Fraser, Ron W. Daniel
    Pages 45-78

  5. An experimental single-link flexible arm

    • Anthony R. Fraser, Ron W. Daniel
    Pages 79-96

  6. Control design for the single-link arm

    • Anthony R. Fraser, Ron W. Daniel
    Pages 97-117

  7. Multi-link flexible arm dynamics

    • Anthony R. Fraser, Ron W. Daniel
    Pages 119-152

  8. A perturbation approach to changing dynamics

    • Anthony R. Fraser, Ron W. Daniel
    Pages 153-186

  9. Extended perturbation techniques

    • Anthony R. Fraser, Ron W. Daniel
    Pages 187-213

  10. Looking to the future — high performance control

    • Anthony R. Fraser, Ron W. Daniel
    Pages 215-223

  11. Back Matter

    Pages 225-275
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Keywords

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.

Authors and Affiliations

  • BP International Ltd., UK

    Anthony R. Fraser

  • University of Oxford, UK

    Ron W. Daniel

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