LEADER 05086nam 2200685Ia 450 001 9910809295303321 005 20240404144448.0 010 $a1-281-93544-1 010 $a9786611935443 010 $a981-279-497-2 035 $a(CKB)1000000000537811 035 $a(EBL)1679754 035 $a(OCoLC)879074272 035 $a(SSID)ssj0000254731 035 $a(PQKBManifestationID)11229329 035 $a(PQKBTitleCode)TC0000254731 035 $a(PQKBWorkID)10208349 035 $a(PQKB)11080817 035 $a(MiAaPQ)EBC1679754 035 $a(WSP)00005391 035 $a(Au-PeEL)EBL1679754 035 $a(CaPaEBR)ebr10255493 035 $a(CaONFJC)MIL193544 035 $a(EXLCZ)991000000000537811 100 $a20040219d2003 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aSynchronization of mechanical systems /$fHenk Nijmeijer, Alejandro Rodriguez-Angeles 205 $a1st ed. 210 $aSingapore ;$aRiver Edge, NJ $cWorld Scientific$dc2003 215 $a1 online resource (219 p.) 225 1 $aWorld Scientific series on nonlinear science. Series A ;$vvol. 46 300 $aDescription based upon print version of record. 311 $a981-238-605-X 320 $aIncludes bibliographical references (p. 197-202) and index. 327 $aContents ; 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 327 $a1.4.1 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 327 $a2.1 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 327 $a2.2.3 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 327 $a3.3 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 327 $a3.4 Gain tuning procedure 330 $a The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be 410 0$aWorld Scientific series on nonlinear science.$nSeries A,$pMonographs and treatises ;$vv. 46. 606 $aRobots$xControl systems 606 $aSynchronization 615 0$aRobots$xControl systems. 615 0$aSynchronization. 676 $a621.3133 700 $aNijmeijer$b H$g(Hendrik),$f1955-$027871 701 $aRodriguez-Angeles$b Alejandro$01190052 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910809295303321 996 $aSynchronization of mechanical systems$93938317 997 $aUNINA