By M. Moallem
This monograph is anxious with the improvement and implementation of nonlinear mathematical recommendations for suggestions regulate and form layout of robotic manipulators whose hyperlinks have enormous structural flexibility. a number of nonlinear keep watch over and commentary options are studied and applied by way of simulations and experiments in a laboratory setup. those ideas contain vital manifolds in singular perturbation idea, nonlinear input-output decoupling, nonlinear observers and sliding control.
The learn of dynamic houses and keep an eye on ideas for flexible-link manipulators can be a framework for designing the mechanical form and fabric of those platforms such that stronger houses may be accomplished so as to facilitate the regulate challenge. accordingly, structural form optimization is taken into account as a way of bettering the dynamic behaviour of flexible-link manipulators.
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Additional info for control and design of flexible link manipulator
To this end an optimization index was introduced in  that incorporates a measure called modal accessibility . This measure indicates the ease with which the flexible modes can be accessed and can therefore improve the system performance. This topic is addressed in Chapter 6 and has appeared in . 5. Experimental Evaluation To evaluate the performance of the controllers outlined in parts 1-3 above a two-link flexible manipulator was built with the fist link rigid and the second link flexible.
4. Structure Design Improving the plant characteristics to achieve a more well behaved system for the purpose of control has been a usual trend in systems and control engineering practice. As an example, for the aircraft to be open-loop stable, the center of mass has to be ahead of the center of pressure. Thus, one aspect of aircraft design is to achieve such a condition. The same philosophy can be applied to flexible structure robotsThe design process then boils down to the solution of an optimization problem to achieve low inertia arms with high structural natural frequencies , , .
This processor, along with the analog and digital output modules, are used for data acquisition as well as computation of the control algorithm. 1 is written in C. The tip deflection is constructed based on the measurements obtained from the strain gauges. Considering a point x along the Link, its deflection as a function of time can be written as where rn is the number of flexible modes, 4 ; ( x ) is the i-th mode shape function, and & ( t ) is the i-th flexible mode. The longitudinal strain at point x is then obtained from where D is the thickness of the beam at point x and the remaining term Is the reciprocal of the radius of curvature at x.