Coppola, Alessandro (2010) MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES. [Tesi di dottorato] (Unpublished)
Preview |
PDF
coppola_alessandro_23.pdf Download (1MB) | Preview |
| 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.
Downloads
Downloads per month over past year
Actions (login required)
 |
View Item |
