Nonlinear Control of a Very Flexible Parallel Robot Manipulator

Beschreibung

This thesis investigates the model-based control of a flexible-links parallel manipulator. Here, the focus is on the dynamic modeling of a flexible multibody system and the use of this model to design a high-performance model-based controller. The main goal of this work is the interaction control of the flexible lambda-shaped robot with its environment.

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Fatemeh Ansarieshlaghi

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Flexible Robot Multibody Dynamics Nonlinear Control

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