Intelligent Control of Flexible Robots
Ibrahim, Khalil / Aly El-Naggar, Ayman A. / Abo Ismail, Ahmed A.
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 po...