Flexible robot manipulators : Modelling simulation & control

This new book discusses the very latest developments in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuro-modelling approaches, numerical modelling/simulation techniques, and more. The book also discusses capabilities of various manipulators and development of models, as well as providing solutions to problems presented by motion dynamics.

Modelling of a Single-Link Flexible Manipulator System: Theoretical and Practical Investigations. Classical Mechanics Approach of Modelling Multi-Link Flexible Manipulators. Parametric and Non-Parametric Modelling of Flexible Manipulators. Finite Difference and Finite Element Simulation of a Flexible Manipulator. Dynamic Characterisation of Flexible Manipulators Using Symbolic Manipulation. Flexible Space Manipulators - Modelling, Simulation, Ground Validation and Space Operation. Open-Loop Control of Flexible Manipulators Using Command Shaping Techniques. Control of Flexible Manipulators with Input Shaping Techniques. Enhanced PID-Type Classical Control of Flexible Manipulators. Force and Position Control of Flexible Manipulators. Collocated and Non-Collocated Control of Flexible Manipulators. Decoupling Control of Flexible Manipulators.