Software environment for modelling and control of flexible manipulators
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.
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