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Synchronization of mechanical systems /
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 sche...
| Clasificación: | Libro Electrónico |
|---|---|
| Autor principal: | |
| Otros Autores: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Singapore ; River Edge, NJ :
World Scientific,
©2003.
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| Colección: | World Scientific series on nonlinear science. Monographs and treatises ;
v. 46. |
| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Preface; Contents; 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 systems2.2 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 analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors.
- 4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics.
- 5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system.