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 [Tesi di dottorato] (Unpublished)

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Item Type: Tesi di dottorato
Language: English
Title: MODELING AND CONTROL OF FLEXIBLE STRUCTURES WITH WEAKNESSES
Creators:
CreatorsEmail
Coppola, Alessandroalessandro.coppola@unina.it
Date: 30 November 2010
Number of Pages: 100
Institution: Università degli Studi di Napoli Federico II
Department: Informatica e sistemistica
Doctoral School: Ingegneria dell'informazione
PHD name: Ingegneria informatica ed automatica
PHD cycle: 23
PHD Coordinator:
nameemail
Garofalo, Francescofranco.garofalo@unina.it
Tutor:
nameemail
Celentano, Giovannigiocelen@unina.it
Date: 30 November 2010
Number of Pages: 100
Uncontrolled Keywords: Modeling, Simulation, Flexible Robots, Computation Efficiency, Trajectory planning, Flexible Robot Control
MIUR S.S.D.: 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

Abstract

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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