Ayman Ali Ahmed Nada <br/><br/>
Flexible Robotic Manipulators :   Modeling , Simulation and Control with Experimentation /  
 الربوتات المرنة : النمذجة والمحاكاة والتحكم مع التطبيق العملى 
Ayman Ali Ahmed Nada ; Supervised Said Mohamed Megahed 
 - Cairo :   Ayman Ali Ahmed Nada ,   2007 
 - 208P. :   ill. ;   30cm 
<br/><br/>Thesis (Ph.D.) - Cairo University - Faculty Of Engineering - Department Of Mechanical Design and Production 
<br/><br/> This work is concerned with the determination of the required robot actuators generalized forces that produce a desired motion for its Tool Center Point (TCP) .The feed - forward control is implemented.In this case , the robot actuators generalized forces are calculated and fed forward to the robot system in an open - loop fashion.The Inverse Dynamic Model of the flexible robot system is developed using the multibody system approach 
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<br/><br/><label>Subjects--Index Terms: </label>Floating frame of Reference Multibody Dynamics Robotics