Flexible Robot Manipulators: Modelling, simulation and control

This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques; a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and software environments for analysis, design, simulation and control of flexible manipulators.