05122nam 2200685Ia 450 991045431730332120200520144314.01-281-93544-19786611935443981-279-497-2(CKB)1000000000537811(EBL)1679754(OCoLC)879074272(SSID)ssj0000254731(PQKBManifestationID)11229329(PQKBTitleCode)TC0000254731(PQKBWorkID)10208349(PQKB)11080817(MiAaPQ)EBC1679754(WSP)00005391(Au-PeEL)EBL1679754(CaPaEBR)ebr10255493(CaONFJC)MIL193544(EXLCZ)99100000000053781120040219d2003 uy 0engur|n|---|||||txtccrSynchronization of mechanical systems[electronic resource] /Henk Nijmeijer, Alejandro Rodriguez-AngelesSingapore ;River Edge, NJ World Scientificc20031 online resource (219 p.)World Scientific series on nonlinear science. Series A ;vol. 46Description based upon print version of record.981-238-605-X Includes bibliographical references (p. 197-202) and index.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 formulation1.4.1 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. Preliminaries2.1 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 robots2.2.3 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 feedback3.3 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 analysis3.4 Gain tuning procedure 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 World Scientific series on nonlinear science.Series A,Monographs and treatises ;v. 46.RobotsControl systemsSynchronizationElectronic books.RobotsControl systems.Synchronization.621.3133Nijmeijer H(Hendrik),1955-27871Rodriguez-Angeles Alejandro989866MiAaPQMiAaPQMiAaPQBOOK9910454317303321Synchronization of mechanical systems2264105UNINA