| Description |
1 online resource (xii, 205 pages) : illustrations |
| Series |
World Scientific series on nonlinear science. Series A ; vol. 46 |
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World Scientific series on nonlinear science. Series A, Monographs and treatises ; v. 46.
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| Contents |
Preface; Contents; 1. Introduction; 1.1 General introduction; 1.2 Synchronization; 1.3 Synchronization in robotic systems; 1.3.1 Velocity and acceleration measurements; 1.3.2 Joint flexibility; 1.3.3 Friction phenomena; 1.4 Problem formulation; 1.4.1 External synchronization of rigid joint robots; 1.4.2 External synchronization of flexible joint robots; 1.4.3 Mutual (internal) synchronization of rigid joint robots; 1.5 Scope of the book; 1.6 Outline of the book; 2. Preliminaries; 2.1 Mathematical preliminaries and stability concepts; 2.1.1 Basic definitions; 2.1.2 Lyapunov stability |
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2.1.3 Stability of perturbed systems2.2 Dynamic models of robot manipulators; 2.2.1 Rigid joint robots; 2.2.2 Flexible joint robots; 2.2.3 Properties of the dynamic model of the robots; 2.2.4 Friction phenomena; 2.3 Experimental setup; 3. External synchronization of rigid joint robots; 3.1 Introduction; 3.2 Synchronization controller based on state feedback; 3.3 Synchronization controller based on estimated variables; 3.3.1 Feedback control law; 3.3.2 An observer for the synchronization errors; 3.3.3 An observer for the slave joint variables; 3.3.4 Synchronization closed loop error dynamics |
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3.3.5 Stability analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors |
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4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics |
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5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system |
| Summary |
The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be ex |
| Bibliography |
Includes bibliographical references (pages 197-202) and index |
| Notes |
Print version record |
| Subject |
Robots -- Control systems.
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Synchronization.
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TECHNOLOGY & ENGINEERING -- Robotics.
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Robots -- Control systems
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Synchronization
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| Form |
Electronic book
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| Author |
Rodriguez-Angeles, Alejandro.
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| ISBN |
9789812794970 |
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9812794972 |
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