Comprehensive study on modelling and control of flexible manipulators - Tapa blanda

This book contains applying advanced studies for the dynamic modelling and the control of flexible robotic manipulators recently employed in many fields such as space exploitation, medical intervention, and industrial applications. Modelling strategy is based on finite element method, Hamilton's principle and Lagrange's equations to derive a dynamic model with some specific characteristics. This model is then used to develop control approaches in open-loop such as input shaping and closed-loop architectures based on PID control and fuzzy control structures such as direct, hybrid, adaptive and supervisory configurations, having the essential object to reach desired positions without end-point vibration. A flexible single-link manipulator is built as an experimental test bed to valid control system.

Born in Sfax, Rahma Boucetta is an assistant professor in the physical department of the FSS at Sfax. She received his BS in electromechanical engineering from ENIS, his masters from ENIT and his PhD in electrical engineering from ENIG. From 2000 to 2007 she worked at ENIG in Gabes. His researches are about modelling and control of flexible robots.