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Flexible-link Robot Manipulators: Control Techniques and Structural Design (Lecture Notes in Control and Information Sciences)

M. Moallem, Rajni V. Patel, K. Khorasani




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 | #7218886 in Books |  2001-01-15 |  2000-09-22 | Original language:English | PDF # 1 |  9.25 x.40 x6.10l,.59 | File type: PDF | 161 pages

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This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear...

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