Software environment for modelling and control of flexible manipulators

Software environment for modelling and control of flexible manipulators

For access to this article, please select a purchase option:

Buy chapter PDF
(plus tax if applicable)
Buy Knowledge Pack
10 chapters for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Your details
Why are you recommending this title?
Select reason:
Flexible Robot Manipulators: Modelling, Simulation and Control — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

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
  • User-defined inputs
  • Modelling, simulation, and control algorithms
  • FD simulation and control
  • 15.7.2 Open-loop FD simulation
  • 15.7.3 Open-loop control
  • 15.7.4 Closed-loop control
  • Joint-based collocated control
  • Hybrid collocated and non-collocated control
  • Adaptive JBC control
  • Adaptive inverse-dynamic control
  • 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

Preview this chapter:
Zoom in

Software environment for modelling and control of flexible manipulators, Page 1 of 2

| /docserver/preview/fulltext/books/ce/pbce086e/PBCE086E_ch15-1.gif /docserver/preview/fulltext/books/ce/pbce086e/PBCE086E_ch15-2.gif

Related content

This is a required field
Please enter a valid email address