Name: two collaborative robot manipulators handling a flexible object (en Inglés)
SKU: 25436434
Price: 72.94 USD
Availability: InStock
Author: Esakki, Balasubramanian
ISBN: 9783845407272

portada two collaborative robot manipulators handling a flexible object (en Inglés)

two collaborative robot manipulators handling a flexible object (en Inglés)

Formato

Libro Físico

Autor

Balasubramanian Esakki

Editorial

LAP Lambert Academic Publishing

Año

2011

Idioma

Inglés

N° páginas

240

Encuadernación

Tapa Blanda

Dimensiones

22.9x15.2x1.4 cm

Peso

0.36 kg.

ISBN

3845407271

ISBN13

9783845407272

Categorías

Ingeniería: general

two collaborative robot manipulators handling a flexible object (en Inglés)

Balasubramanian Esakki (Autor) · LAP Lambert Academic Publishing · Tapa Blanda

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Reseña del libro "two collaborative robot manipulators handling a flexible object (en Inglés)"

Robots are often used in industry to handle flexible objects, such as frames, leather goods, thin plates and rubber tubes. Most of the earlier studies dealt with handling of rigid objects and only a few have focused on the collaborative manipulators handling flexible objects. Therefore in this book two rigid robot manipulators collaboratively moving the flexible object in the desired trajectory and also suppressing the vibration of the object are considered for the study. The complete system of dynamic equations is obtained with the help of derived kinematic relations and dynamic equations of manipulators as well as the flexible object. Then, by employing singular perturbation technique slow and fast subsystems are identified. In order to handle parameter uncertainties, robust control algorithms are suggested. As a further improvement of control law for the slow subsystem, two control algorithms are suggested. The first one focused on the avoidance of velocity signal measurement which is useful to eliminate the need of velocity sensors and the second controller aims at avoiding the complex regressor in the control law. Stability analysis and simulation results are also presented.