Год выпуска: 2013 Автор: Khalil Ibrahim,Ayman A. Aly El-Naggar and Ahmed A. Abo Ismail Издательство: LAP Lambert Academic Publishing Страниц: 144 ISBN: 9783659380044
Описание
In this book, the control of a flexible robot with a payload at the free end is theoretically and experimentally investigated, where the arm dynamic model is obtained by applying Euler-Bernoulli beam and Lagrange’s equations. The current research is mainly carried out to highlight the major problems encountered in positioning the flexible robot arm upon applying different control policies. The arm is driven by a DC-servomotor, where the hub position is measured by a rotary encoder and the deflection is detected by a strain gauge sensor. This book is mainly carried out to determine the major problems encountered in controlling flexible arm upon applying conventional controllers and to highlight the capabilities of the intelligent controllers in improving the arm dynamic response. This book was written for researchers in mechanical, electrical and Mechatronics engineering. However, it is also intended to be a practical textbook for those engineers in industry who find themselves...
