TWO COLLABORATIVE ROBOT MANIPULATORS HANDLING A FLEXIBLE OBJECT: Modeling, Control, and Analysis - Couverture souple

Esakki, Balasubramanian

 
9783845407272: TWO COLLABORATIVE ROBOT MANIPULATORS HANDLING A FLEXIBLE OBJECT: Modeling, Control, and Analysis
Couverture souple
ISBN 10 : 3845407271 ISBN 13 : 9783845407272
Editeur : LAP LAMBERT Academic Publishing, 2011

Synopsis

Robots are often used in industry to handle flexible objects, such as frames, leather goods, thin plates and rubber tubes. Most of the earlier studies dealt with handling of rigid objects and only a few have focused on the collaborative manipulators handling flexible objects. Therefore in this book two rigid robot manipulators collaboratively moving the flexible object in the desired trajectory and also suppressing the vibration of the object are considered for the study. The complete system of dynamic equations is obtained with the help of derived kinematic relations and dynamic equations of manipulators as well as the flexible object. Then, by employing singular perturbation technique slow and fast subsystems are identified. In order to handle parameter uncertainties, robust control algorithms are suggested. As a further improvement of control law for the slow subsystem, two control algorithms are suggested. The first one focused on the avoidance of velocity signal measurement which is useful to eliminate the need of velocity sensors and the second controller aims at avoiding the complex regressor in the control law. Stability analysis and simulation results are also presented.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

Robots are often used in industry to handle flexible objects, such as frames, leather goods, thin plates and rubber tubes. Most of the earlier studies dealt with handling of rigid objects and only a few have focused on the collaborative manipulators handling flexible objects. Therefore in this book two rigid robot manipulators collaboratively moving the flexible object in the desired trajectory and also suppressing the vibration of the object are considered for the study. The complete system of dynamic equations is obtained with the help of derived kinematic relations and dynamic equations of manipulators as well as the flexible object. Then, by employing singular perturbation technique slow and fast subsystems are identified. In order to handle parameter uncertainties, robust control algorithms are suggested. As a further improvement of control law for the slow subsystem, two control algorithms are suggested. The first one focused on the avoidance of velocity signal measurement which is useful to eliminate the need of velocity sensors and the second controller aims at avoiding the complex regressor in the control law. Stability analysis and simulation results are also presented.

Biographie de l'auteur

Balasubramanian Esakki received his PhD from Concordia University, Canada.Presently working as an Associate Professor of Mechanical Engineering at VelTech Dr.RR and Dr.SR Technical University,Chennai,India.He has 8 years of teaching and research experience.His research interests are in the areas of dynamical systems, robotics and nonlinear control.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2011
Langue
anglais
ISBN 10 
3845407271
ISBN 13 
9783845407272
Reliure
Broché
Nombre de pages
240
Coordonnées du fabricant
non disponible
Personne responsable
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