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Flexible Robot Manipulators: Modelling, Simulation and Control (2nd Edition)

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Author(s): M. O. Tokhi 1  and  A. K. M. Azad 2
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Publication Year: 2017

Industrial automation is driving the development of robot manipulators in various applications, with much of the research effort focussed on flexible manipulators and their advantages compared to their rigid counterparts. This book reports recent advances and new developments in the analysis and control of these robot manipulators. After a general overview of flexible manipulators the book introduces a range of modelling and simulation techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical techniques for dynamic characterisation using finite difference and finite element techniques. Control techniques are then discussed, including a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control, and a range of softcomputing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Finally the book presents SCEFMAS, a software environment for analysis, design, simulation and control of flexible manipulators. Flexible Robot Manipulators is essential reading for advanced students of robotics, mechatronics and control engineering and will serve as a source of reference for research in areas of modelling, simulation and control of dynamic flexible structures in general and, specifically, of flexible robotic manipulators.

Inspec keywords: software engineering; flexible manipulators; optimisation; closed loop systems; neurocontrollers; fuzzy logic; control engineering computing; open loop systems; modelling; simulation

Other keywords: system identification techniques; closed-loop control techniques; finite difference techniques; evolutionary optimisation; open-loop control techniques; finite element techniques; iterative control; fuzzy logic; flexible robot manipulators; Lagrange equation formulation; neuro-modelling approaches; bio-inspired optimisation; neuro control; soft-computing control techniques; simulation techniques; numerical modelling; linear input-output models; interactive software environment

Subjects: Software techniques and systems; Optimisation techniques; Manipulators; Control engineering computing; Simulation, modelling and identification; General and management topics; Control theory

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