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Synchronization of mechanical systems / / Henk Nijmeijer, Alejandro Rodriguez-Angeles



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Autore: Nijmeijer H (Hendrik), <1955-> Visualizza persona
Titolo: Synchronization of mechanical systems / / Henk Nijmeijer, Alejandro Rodriguez-Angeles Visualizza cluster
Pubblicazione: Singapore ; ; River Edge, NJ, : World Scientific, c2003
Edizione: 1st ed.
Descrizione fisica: 1 online resource (219 p.)
Disciplina: 621.3133
Soggetto topico: Robots - Control systems
Synchronization
Altri autori: Rodriguez-AngelesAlejandro  
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
Titolo autorizzato: Synchronization of mechanical systems  Visualizza cluster
ISBN: 1-281-93544-1
9786611935443
981-279-497-2
Formato: Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione: Inglese
Record Nr.: 9910809295303321
Lo trovi qui: Univ. Federico II
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Serie: World Scientific series on nonlinear science. : Series A, . -Monographs and treatises ; ; v. 46.