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Review copy

49,80 €
ISBN 978-3-8440-8688-1
Softcover
166 pages
136 figures
246 g
21 x 14,8 cm
English
Thesis

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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