| Summary: | This book reports recent advances and new developments in analysis (modelling and simulation) and control of flexible robot manipulators, in the light of the issues mentioned above. The contents of the book are presented in 15 chapters, and these may be categorised into five parts. Part 1 comprises Chapters 1 and 2, and provides a general overview of flexible manipulators from the perspective of modelling, simulation, control and applications a design formulation of flexible manipulators. Part 2 is on modelling and simulation techniques. It includes Chapters 3-7, and presents classical modelling techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques, neuro-modelling approaches, and numerical modelling/ simulation techniques for dynamic characterisation of flexible manipulators using finite difference and finite element techniques. Part 3 is on classical and advanced control techniques. Chapters 8-10 are grouped into this section, and includes a range of open-loop and closed-loop control techniques based on classical and modern control methods including neuro and iterative control. Part 4 includes Chapters 11-14, and presents a range of soft-computing control techniques based on fuzzy logic, neural networks, and evolutionary and bio-inspired optimisation paradigms. Part 5 includes Chapter 15, and presents a software environment for analysis, design, simulation and control of flexible manipulators. A range of approaches presented in earlier chapters are brought together in this chapter into an interactive software environment for use in both in research and education.
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