LEADER 02085oam 2200553M 450 001 9911080445503321 005 20200213070557.9 035 $a(CKB)46362009200041 035 $a(DGPO)001197914 035 $a(OCoLC)1065916123 035 $a(EXLCZ)9946362009200041 100 $a20071213d1925 ua 0 101 0 $aeng 135 $aur||||||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aLoan of horses, bridles, etc., to Knights Templar at Seattle, Wash. February 19, 1925. -- Committed to the Committee of the Whole House on the State of the Union and ordered to be printed 210 1$aWashington, DC :$c[publisher not identified],$d1925. 215 $a1 online resource (2 pages) 225 1 $aHouse report / 68th Congress, 2nd session. House ;$vno. 1523 225 1 $a[United States congressional serial set] ;$v[serial set no. 8391] 300 $aBatch processed record: Metadata reviewed, not verified. Some fields updated by batch processes. 300 $aFDLP item number not assigned. 300 $aElectronic resource. 606 $aClergy conferences 606 $aCongresses and conventions 606 $aFraternal organizations 606 $aHorses 606 $aLegislative amendments 606 $aMilitary supplies 606 $aSaddlery 608 $aLegislative materials.$2lcgft 615 0$aClergy conferences. 615 0$aCongresses and conventions. 615 0$aFraternal organizations. 615 0$aHorses. 615 0$aLegislative amendments. 615 0$aMilitary supplies. 615 0$aSaddlery. 701 $aReece$b B. Carroll$g(Brazilla Carroll),$f1889-1961$pRepublican (TN)$01386812 801 0$bWYU 801 1$bWYU 801 2$bOCLCO 801 2$bOCLCQ 906 $aBOOK 912 $a9911080445503321 996 $aLoan of horses, bridles, etc., to Knights Templar at Seattle, Wash. February 19, 1925. -- Committed to the Committee of the Whole House on the State of the Union and ordered to be printed$94647604 997 $aUNINA LEADER 05200nam 2200733Ia 450 001 9911142929203321 005 20251116231604.0 010 $a9786611935443 010 $a9781281935441 010 $a1281935441 010 $a9789812794970 010 $a9812794972 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(Perlego)850792 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 $aDescription based upon print version of record. 311 08$a9789812386052 311 08$a981238605X 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 $a9911142929203321 996 $aSynchronization of mechanical systems$94837887 997 $aUNINA