Pub. Date:
Institution of Engineering and Technology (IET)
Flexible Robot Manipulators: Modelling, Simulation and Control

Flexible Robot Manipulators: Modelling, Simulation and Control

by M. Osman Tokhi, Abul K.M. Azad


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Product Details

ISBN-13: 9780863414480
Publisher: Institution of Engineering and Technology (IET)
Publication date: 09/30/2008
Series: Control, Robotics and Sensors Series , #68
Pages: 584
Product dimensions: 6.40(w) x 9.40(h) x 1.50(d)

About the Author

M. Osman Tokhi obtained his B.Sc. (Electrical Engineering) from Kabul University, Afghanistan in 1978 and Ph.D. from Heriot-Watt University, UK in 1988. He has held academic positions at universities in Afghanistan and the UK, and has also worked for industry. He is currently Reader of Systems and Control at the Department of Automatic Control and Systems Engineering, University of Sheffield, UK. His research interests include active control of noise and vibration, intelligent/adaptive control, soft-computing modelling and control of dynamic systems, and biomedical applications of robotics and control. He has published extensive research articles and textbooks in these areas.

Abul K.M. Azad is currently an Associate Professor at the Department of Technology, Northern Illinois University, USA. He obtained his Ph.D. in 1994 from the University of Sheffield, UK, and subsequently worked at the Universities of Sheffield and Portsmouth in various capacities. His research and teaching interests are in flexible manipulators, real-time computer control, mechatronics, Internet-based physical experiments, adaptive/intelligent control and mobile robotics. He has active membership of and involvement in several learned societies including the IET, IEEE, ASEE, ISA and CLAWAR, and is an IEEE nominated evaluator for the Accreditation Board for Engineering and Technology, USA.

Table of Contents

  • Chapter 1: Flexible manipulators - an overview
  • Chapter 2: Modelling of a single-link flexible manipulator system: Theoretical and practical investigations
  • Chapter 3: Classical mechanics approach of modelling multi-link flexible manipulators
  • Chapter 4: Parametric and non-parametric modelling of flexible manipulators
  • Chapter 5: Finite difference and finite element simulation of flexible manipulators
  • Chapter 6: Dynamic characterisation of flexible manipulators using symbolic manipulation
  • Chapter 7: Flexible space manipulators: Modelling, simulation, ground validation and space operation
  • Chapter 8: Open-loop control of flexible manipulators using command-generation techniques
  • Chapter 9: Control of flexible manipulators with input shaping techniques
  • Chapter 10: Enhanced PID-type classical control of flexible manipulators
  • Chapter 11: Force and position control of flexible manipulators
  • Chapter 12: Collocated and non-collocated control of flexible manipulators
  • Chapter 13: Decoupling control of flexible manipulators
  • Chapter 14: Modelling and control of space manipulators with flexible links
  • Chapter 15: Soft computing approaches for control of a flexible manipulator
  • Chapter 16: Modelling and control of smart material flexible manipulators
  • Chapter 17: Modelling and control of rigid–flexible manipulators
  • Chapter 18: Analysis and design environment for flexible manipulators
  • Chapter 19: SCEFMAS - An environment for simulation and control of flexible manipulator systems

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