Robust Control Algorithms for Two-Link Flexible Manipulators
暫譯: 兩連桿柔性機械手的穩健控制演算法
Lochan, Kshetrimayum, Roy, Binoy Krishna, Subudhi, Bidyadhar
- 出版商: CRC
- 出版日期: 2026-05-21
- 售價: $2,570
- 貴賓價: 9.5 折 $2,441
- 語言: 英文
- 頁數: 236
- 裝訂: Quality Paper - also called trade paper
- ISBN: 1032384786
- ISBN-13: 9781032384788
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相關分類:
控制系統 Control-systems
海外代購書籍(需單獨結帳)
商品描述
Many 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 reviewed comprehensively. 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.
商品描述(中文翻譯)
本書介紹了許多二鏈柔性機械手臂的建模與控制方法。全面回顧了集中參數建模方法和假設模式建模方法。書中還回顧了軌跡追蹤問題和末端軌跡追蹤問題，以及鏈條末端偏移的抑制。指數時間變化信號和混沌信號被視為期望的軌跡。相同/不同的從屬機械手臂與受控的主機械手臂進行同步，使得從屬機械手臂間接跟隨期望的機械手臂。
作者簡介
Kshetrimayum Lochan is a research fellow under the Department of Mechanical and Nuclear Engineering, Khalifa University Center for Robotics and Autonomous Systems (KUCARS), UAE. Her research interests include Controlling for Flexible Manipulators, Nonlinear Control, and Autonomous Robots in complex environments of underwater and drylands.
Binoy Krishna Roy is a Professor in the Department of Electrical Engineering and Dean (Academics) at the National Institute of Technology, Silchar. Prof. Roy is a Fellow of the Institution of Engineers (India), in The Institution of Electronics and Telecommunication Engineers, and a Senior Member of IEEE and ISA. His expertise includes Control Systems, Fault Detection and Diagnosis, Industrial Automation, Process Control, Nonlinear Control and Dynamics, and Underwater Robotics.
Bidyadhar Subudhi is the Director of the National Institute of Technology Warangal (NITW) India, on deputation from the Indian Institute of Technology (IIT) Goa. He is a Professor in the School of Electrical Sciences at IIT Goa. His research interests include Flexible Manipulators, Machine Learning and Adaptive Systems, Marine Robotics, and Microgrid Systems.
Santhakumar Mohan is an adjunct professor at the Department of Engineering Design at IIT Madras and a Professor at the IIT Palakkad Technology Ihub Foundation (IPTIF). His active research areas include Service and Field Robots (specifically, the design & motion control of underwater and wheeled mobile robots), Parallel Robotic Platforms, and Assistive and Rehabilitation Robots.
作者簡介(中文翻譯)
Kshetrimayum Lochan 是阿聯酋哈利法大學機械與核工程系的研究員，隸屬於機器人與自主系統中心 (KUCARS)。她的研究興趣包括靈活操控器的控制、非線性控制，以及在水下和乾燥環境中的自主機器人。
Binoy Krishna Roy 是印度國立技術學院 (National Institute of Technology, Silchar) 電機工程系的教授及學術院長。Roy 教授是印度工程師學會 (Institution of Engineers, India) 的院士，電子與電信工程師學會 (Institution of Electronics and Telecommunication Engineers) 的院士，以及 IEEE 和 ISA 的資深會員。他的專長包括控制系統、故障檢測與診斷、工業自動化、過程控制、非線性控制與動力學，以及水下機器人技術。
Bidyadhar Subudhi 是印度國立技術學院瓦朗加爾分院 (NITW) 的院長，現正借調自印度理工學院 (IIT) 藏瓦 (Goa)。他是 IIT Goa 電氣科學學院的教授。他的研究興趣包括靈活操控器、機器學習與自適應系統、海洋機器人以及微電網系統。
Santhakumar Mohan 是印度理工學院 (IIT) 馬德拉斯工程設計系的兼任教授，以及 IIT Palakkad 技術創新中心 (IPTIF) 的教授。他的活躍研究領域包括服務與現場機器人（特別是水下和輪式移動機器人的設計與運動控制）、平行機器人平台，以及輔助與康復機器人。
