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FLEXIBLE ROBOT MANIPULATORS: MODELLING, SIMULATION AND CONTROL 2E
Título:
FLEXIBLE ROBOT MANIPULATORS: MODELLING, SIMULATION AND CONTROL 2E
Subtítulo:
Autor:
TOKHI, M
Editorial:
IET
Año de edición:
2017
Materia
TEORIA DE CONTROL
ISBN:
978-1-84919-836-3
Páginas:
536
150,80 €

 

Sinopsis

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.