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Software environment for modelling and control of flexible manipulators

Software environment for modelling and control of flexible manipulators

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This chapter presents the development of SCEFMAS (Simulation and Control Environment for Flexible MAnipulator Systems) software package. This is a userfriendly interactive software environment utilising MATLAB® and associated toolboxes. The main components of this environment are finite difference and finite element simulations, artificial intelligence modelling using neural networks and genetic algorithm. The package also incorporates a range of control techniques, including open-loop control such asfiltered command, Gaussian-shaped and command shaping, collocated and non-collocated closed-loop control methods offixed and adaptive types, and intelligent soft-computing control techniques. The environment allows the user to set-up the system by providing its physical parameters and to select the controller type through an interactive graphical user interface. Data analyses can be performed in timeand frequency-domains on the controller and system input and output signals. The environment is suitable as an education package and as a research facility for investigating and developing various simulation, modelling, and controller designs for flexible manipulator systems.

Chapter Contents:

  • 15.1 Introduction
  • 15.2 Flexible manipulator system
  • 15.3 SCEFMAS structure
  • 15.4 FD simulation and control
  • 15.4.1 FD simulation algorithm
  • 15.4.2 Controller designs
  • 15.5 Intelligent modelling
  • 15.5.1 NN modelling
  • 15.5.2 GA modelling
  • 15.6 Graphical user interfaces
  • 15.7 SCEFMAS implementation
  • 15.7.1 Initial GUI
  • 15.7.1.1 User-defined inputs
  • 15.7.1.2 Modelling, simulation, and control algorithms
  • 15.7.1.3 FD simulation and control
  • 15.7.2 Open-loop FD simulation
  • 15.7.3 Open-loop control
  • 15.7.4 Closed-loop control
  • 15.7.4.1 Joint-based collocated control
  • 15.7.4.2 Hybrid collocated and non-collocated control
  • 15.7.4.3 Adaptive JBC control
  • 15.7.4.4 Adaptive inverse-dynamic control
  • 15.7.4.5 Adaptive neuro-inverse-dynamic control
  • 15.8 Intelligent modelling
  • 15.8.1 NN modelling
  • 15.8.2 GA modelling
  • 15.9 Web-based SCEFMAS
  • 15.10 Summary

Inspec keywords: graphical user interfaces; genetic algorithms; neural nets; finite difference methods; data analysis; interactive systems; finite element analysis; artificial intelligence; control engineering computing; software packages; time-domain analysis; frequency-domain analysis; mathematics computing; flexible manipulators

Other keywords: artificial intelligence modelling; flexible manipulator modelling; data analysis; Simulation and Control Environment for Flexible MAnipulator Systems; user friendly interactive software environment; neural networks; time-domains; genetic algorithm; SCEFMAS software package; education package; MATLAB; frequency-domains; interactive graphical user interface; research facility; finite difference simulation; finite element simulations

Subjects: Finite element analysis; Graphical user interfaces; Neural computing techniques; Optimisation techniques; Expert systems and other AI software and techniques; Control engineering computing; Mathematics computing; Manipulators; Differential equations (numerical analysis); Control system analysis and synthesis methods

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