1.

Record Nr.

UNINA9910782117203321

Autore

Nijmeijer H (Hendrik), <1955->

Titolo

Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles

Pubbl/distr/stampa

Singapore ; ; River Edge, NJ, : World Scientific, c2003

ISBN

1-281-93544-1

9786611935443

981-279-497-2

Descrizione fisica

1 online resource (219 p.)

Collana

World Scientific series on nonlinear science. Series A ; ; vol. 46

Altri autori (Persone)

Rodriguez-AngelesAlejandro

Disciplina

621.3133

Soggetti

Robots - Control systems

Synchronization

Lingua di pubblicazione

Inglese

Formato

Materiale a stampa

Livello bibliografico

Monografia

Note generali

Description based upon print version of record.

Nota di bibliografia

Includes bibliographical references (p. 197-202) and index.

Nota di contenuto

Contents               ; Preface              ; 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                               ; 2.1.3 Stability of perturbed systems                                           ; 2.2 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                                                       ; 3.3.5 Stability analysis

3.4 Gain tuning procedure

Sommario/riassunto

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