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49,80 €ISBN 978-3-8440-8688-1Softcover166 pages136 figures246 g21 x 14,8 cmEnglishThesis
July 2022
Fatemeh Ansarieshlaghi
Nonlinear Control of a Very Flexible Parallel Robot Manipulator
This thesis investigates the model-based control of a flexible-links parallel manipulator. Here, the focus is on the dynamic modeling of a flexible multibody system and the use of this model to design a high-performance model-based controller. The main goal of this work is the interaction control of the flexible lambda-shaped robot with its environment.
Keywords: Nonlinear Control; Flexible Robot; Multibody Dynamics
Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart
Edited by Prof. Dr.-Ing. Peter Eberhard, Stuttgart
Volume 2022,73
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