Coppola, Alessandro (2010) MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES. [Tesi di dottorato] (Unpublished)

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Item Type:	Tesi di dottorato
Resource language:	English
Title:	MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES
Creators:	Creators Email Coppola, Alessandro alessandro.coppola@unina.it
Date:	30 November 2010
Number of Pages:	100
Institution:	Università degli Studi di Napoli Federico II
Department:	Informatica e sistemistica
Scuola di dottorato:	Ingegneria dell'informazione
Dottorato:	Ingegneria informatica ed automatica
Ciclo di dottorato:	23
Coordinatore del Corso di dottorato:	nome email Garofalo, Francesco franco.garofalo@unina.it
Tutor:	nome email Celentano, Giovanni giocelen@unina.it
Date:	30 November 2010
Number of Pages:	100
Keywords:	Modeling, Simulation, Flexible Robots, Computation Efficiency, Trajectory planning, Flexible Robot Control
Settori scientifico-disciplinari del MIUR:	Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica
Date Deposited:	11 Feb 2011 09:45
Last Modified:	30 Apr 2014 19:46
URI:	http://www.fedoa.unina.it/id/eprint/8373
DOI:	10.6092/UNINA/FEDOA/8373

Collection description

The modeling and control of flexible structures with weaknesses is investigated. First a modular, computationally efficient, and numerically stable method is presented, which allows to obtain the dynamic model of a robot constituted by flexible links having variable cross-section and subjected to generic ending forces and torques and to the gravity actions. Then a variation to the assumed mode method is presented which allows to obtain the analytical model of a flexible robot and which results drastically more efficient, from a computational point of view, than the classic assumed modes method. Finally a methodology for trajectory planning in the workspace and for the robot control has been developed.

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