Fatemeh Ansarieshlaghi

Nonlinear Control of a Very Flexible Parallel Robot Manipulator


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ISBN:

978-3-8440-8688-1

Series:

Schriften aus dem Institut für Technische und Numerische Mechanik der Universität Stuttgart
Herausgeber: Prof. Dr.-Ing. Peter Eberhard
Stuttgart

Volume:

2022,73

Keywords:

Nonlinear Control; Flexible Robot; Multibody Dynamics

Type of publication:

Thesis

Language:

English

Pages:

166 pages

Figures:

136 figures

Weight:

246 g

Format:

21 x 14,8 cm

Binding:

Paperback

Price:

49,80 € / 62,30 SFr

Published:

July 2022

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DOI:

10.2370/9783844086881 (Online document)

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Abstract:

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.