Download Free Active Vibration Control Of Flexible Two Link Manipulator Book in PDF and EPUB Free Download. You can read online Active Vibration Control Of Flexible Two Link Manipulator and write the review.

A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen years. In three major parts, the editors deal with the modelling and control of rigid and flexible robot manipulators and mobile robots. Most of the results on rigid robot manipulators in part I are now well established, while for flexible manipulators in part II, some problems still remain unresolved. Part III deals with the control of mobile robots, a challenging area for future research. The whole is rounded off with an appendix reviewing basic definitions and the mathematical background for control theory. The particular combination of topics makes this an invaluable source of information for both graduate students and researchers.
This book presents theoretical explorations of several fundamental problems in the dynamics and control of flexible beam systems. By integrating fresh concepts and results to form a systematic approach to control, it establishes a basic theoretical framework. It includes typical control design examples verified using MATLAB simulation, which in turn illustrate the successful practical applications of active vibration control theory for flexible beam systems. The book is primarily intended for researchers and engineers in the control system and mechanical engineering community, offering them a unique resource.
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
This book is an essential guide to nonlinear dynamics and vibration control, detailing both the theory and the practical industrial applications within all aspects of engineering. Demonstrating how to improve efficiency through reducing unwanted vibration, it will aid both students and engineers in practically and safely improving flexible structures through control methods. Increasing demand for light-weight robotic systems and space applications has actuated the design and construction of more flexible structures. These flexible structures, involving numerous dynamic systems, experience unwanted vibrations, impacting accuracy, operating speed, safety and, importantly, efficiency. This book aids engineers in assuaging this issue through vibration control methods, including nonlinear dynamics. It covers topics such as dynamic modeling of nonlinear system, nonlinear oscillators, and modal analyses of multiple-mode system. It also looks at vibration control methods including linear control, nonlinear control, intelligent control, and command smoothers. These control methods are effective and reliable methods to counteract unwanted vibrations. The book is practically minded, using industrial applications throughout, such as bridge cranes, tower cranes, aerial cranes and liquid sloshing. It also discusses cable-suspension structures, light-weight links, and fluid motions which exhibit flexible-structure dynamics. The book will be of interest to students and engineers alike, in the field of mechatronics, mechanical systems and signal processing, nonlinear dynamics, vibration, and control engineering.
This book describes the active vibration control techniques which have been developed to suppress excessive vibrations of structures. It covers the fundamental principles of active control methods and their applications and shows how active vibration control techniques have replaced traditional passive vibration control. The book includes coverage of dynamic modeling, control design, sensing methodology, actuator mechanism and electronic circuit design, and the implementation of control algorithms via digital controllers. An in-depth approach has been taken to describe the modeling of structures for control design, the development of control algorithms suitable for structural control, and the implementation of control algorithms by means of Simulink block diagrams or C language. Details of currently available actuators and sensors and electronic circuits for signal conditioning and filtering have been provided based on the most recent advances in the field. The book is used as a textbook for students and a reference for researchers who are interested in studying cutting-edge technology. It will be a valuable resource for academic and industrial researchers and professionals involved in the design and manufacture of active vibration controllers for structures in a wide variety of fields and industries including the automotive, rail, aerospace, and civil engineering sectors.
This book described vibration reduction for flexible structures by the command smoothing techniques. The Command smoothing technique is a kind of open-loop controller. The operator's commands filter through a piecewise continuous function, called smoother, to produce smoothed commands. Smoothed commands move flexible dynamic systems toward desired positions with minimal oscillations. Five types of command smoother were reported including one-piece, two-pieces, three-pieces, and four-pieces smoothers, and the smoother for multi-mode Duffing oscillators. All smoothers are robust to changes in the system parameters and working conditions. The command smoothing technique has been successfully applied to industrial cranes, sloshing suppression, flexible manipulators, high-speed cam and follower systems, and helicopter slung loads.
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
This book presents iterative learning control (ILC) to address practical issues of flexible structures. It is divided into four parts: Part I provides a general introduction to ILC and flexible structures, while Part II proposes various types of ILC for simple flexible structures to address issues such as vibration, input saturation, input dead-zone, input backlash, external disturbances, and trajectory tracking. It also includes simple partial differential equations to deal with the common problems of flexible structures. Part III discusses the design of ILC for flexible micro aerial vehicles and two-link manipulators, and lastly, Part IV offers a summary of the topics covered. Unlike most of the literature on ILC, which focuses on ordinary differential equation systems, this book explores distributed parameter systems, which are comparatively less stabilized through ILC.Including a comprehensive introduction to ILC of flexible structures, it also examines novel approaches used in ILC to address input constraints and disturbance rejection. This book is intended for researchers, graduate students and engineers in various fields, such as flexible structures, external disturbances, nonlinear inputs and tracking control.
This book discusses the latest developmens 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 neuromodelling approaches and numerical modelling/simulation techniques.
My objective in writing this book was to cross the bridge between the structural dynamics and control communities, while providing an overview of the potential of SMART materials for sensing and actuating purposes in active vibration c- trol. I wanted to keep it relatively simple and focused on systems which worked. This resulted in the following: (i) I restricted the text to fundamental concepts and left aside most advanced ones (i.e. robust control) whose usefulness had not yet clearly been established for the application at hand. (ii) I promoted the use of collocated actuator/sensor pairs whose potential, I thought, was strongly underestimated by the control community. (iii) I emphasized control laws with guaranteed stability for active damping (the wide-ranging applications of the IFF are particularly impressive). (iv) I tried to explain why an accurate pred- tion of the transmission zeros (usually called anti-resonances by the structural dynamicists) is so important in evaluating the performance of a control system. (v) I emphasized the fact that the open-loop zeros are more difficult to predict than the poles, and that they could be strongly influenced by the model trun- tion (high frequency dynamics) or by local effects (such as membrane strains in piezoelectric shells), especially for nearly collocated distributed actuator/sensor pairs; this effect alone explains many disappointments in active control systems.