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

• Autore: Nijmeijer H (Hendrik), <1955->
• Pubblicazione: Singapore ; ; River Edge, NJ, : World Scientific, c2003
• 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
• 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
• Serie: World Scientific series on nonlinear science. : Series A, . -Monographs and treatises ; ; v. 46.