Rigid-Flexible Coupling Hoisting Robots : Modeling, Analysis, and Control

Comprehensive resource detailing the technology of rigid-flexible coupling robots and their applications Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control introduces the configuration and optimization design, mechanics and fundamental mechanical issues, uncertainty analysis, trajectory planning, control, and applications of rigid-flexible coupling hoisting robots.The book also reviews kinematics and dynamics modeling as well as design methods to enhance overall performance including motion decoupling, reconfigurable design, and optimization design.A series of numerical simulations and specific experiments on real prototypes are included to help readers quickly grasp both theory and practical application.Summarizing the numerous achievements the authors have made in the field in recent years, Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control includes information on: Fundamental challenges including trajectory planning, tracking control, and force controlMulti-objective optimization design for workspace dexterity and stiffnessKinematic uncertainty analysis with random parameters, narrowly bounded uncertainty, and large-bounded uncertaintyDynamic uncertainty analysis with hybrid-random and interval parametersController design and platform development Rigid-Flexible Coupling Hoisting Robots: Modeling, Analysis, and Control is an essential reference on the subject for researchers and engineers in the field as well as graduate students in related programs of study.