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Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles
| Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
| Autore | Nijmeijer H (Hendrik), <1955-> |
| Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
| Descrizione fisica | 1 online resource (219 p.) |
| Disciplina | 621.3133 |
| Altri autori (Persone) | Rodriguez-AngelesAlejandro |
| Collana | World Scientific series on nonlinear science. Series A |
| Soggetto topico |
Robots - Control systems
Synchronization |
| Soggetto genere / forma | Electronic books. |
| ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
| Formato | Materiale a stampa  |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| 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 |
| Record Nr. | UNINA-9910454317303321 |
Nijmeijer H (Hendrik), <1955->
|
||
| Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles
| Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
| Autore | Nijmeijer H (Hendrik), <1955-> |
| Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
| Descrizione fisica | 1 online resource (219 p.) |
| Disciplina | 621.3133 |
| Altri autori (Persone) | Rodriguez-AngelesAlejandro |
| Collana | World Scientific series on nonlinear science. Series A |
| Soggetto topico |
Robots - Control systems
Synchronization |
| ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| 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 |
| Record Nr. | UNINA-9910782117203321 |
|
Nijmeijer H (Hendrik), <1955->
|
||
| Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||
Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles
| Synchronization of mechanical systems [[electronic resource] /] / Henk Nijmeijer, Alejandro Rodriguez-Angeles |
| Autore | Nijmeijer H (Hendrik), <1955-> |
| Pubbl/distr/stampa | Singapore ; ; River Edge, NJ, : World Scientific, c2003 |
| Descrizione fisica | 1 online resource (219 p.) |
| Disciplina | 621.3133 |
| Altri autori (Persone) | Rodriguez-AngelesAlejandro |
| Collana | World Scientific series on nonlinear science. Series A |
| Soggetto topico |
Robots - Control systems
Synchronization |
| ISBN |
1-281-93544-1
9786611935443 981-279-497-2 |
| Formato | Materiale a stampa |
| Livello bibliografico | Monografia |
| Lingua di pubblicazione | eng |
| 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 |
| Record Nr. | UNINA-9910809295303321 |
|
Nijmeijer H (Hendrik), <1955->
|
||
| Singapore ; ; River Edge, NJ, : World Scientific, c2003 | ||
| Materiale a stampa | ||
| Lo trovi qui: Univ. Federico II | ||
| ||