Synchronization of Mechanical Systems. için kapak resmi
Başlık:
Synchronization of Mechanical Systems.
ISBNp:
9789812794970
Dil:
English
Yayın Bilgileri:
Singapore :

World Scientific Publishing Co Pte Ltd,

2003.

©2003.
Fiziksel Tanımlama:
1 online resource (219 pages)
Seri:
World Scientific Series on Nonlinear Science Series A Ser. ; v.46

World Scientific Series on Nonlinear Science Series A Ser.
İçerik:
Intro -- 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 -- 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 variables -- 4.3.3 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 analysis -- 5.4 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 -- 6.5 Conclusions and discussion -- 7. Synchronization in other mechanical systems -- 7.1 Leader-follower synchronization of mobile robots -- 7.1.1 Kinematic model of the mobile robot -- 7.1.2 Leader-follower synchronization controller -- 7.1.3 Simulation study -- 7.2 Control of differential mobile robots via synchronization -- 7.2.1 Model of the differential mobile robot -- 7.2.2 Synchronization control strategy and controller -- 7.2.3 Simulation study -- 7.3 Attitude formation of multi-satellite systems -- 7.3.1 Dynamics of the satellite system -- 7.3.2 Synchronization strategy and controller -- 7.3.3 Simulation study.

7.4 Discussion -- 8. Conclusions -- Appendix A Proof of Lemma 3.2 -- Appendix B Proof of Theorem 3.2 -- Appendix C Proof of Lemma 4.1 -- Appendix D Proof of Lemma 4.3 -- Appendix E Proof of Proposition 4.1 -- Appendix F Proof of Lemma 5.3 -- Appendix G Proof of Theorem 5.3 -- Appendix H Dynamic model of the CFT robot -- Bibliography -- Index.
Özet:
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 extended to other mechanical systems, such as mobile robots, motors and generators. Contents: Preliminaries; External Synchronization of Rigid Joint Robots; External Synchronization of Flexible Joint Robots; Mutual Synchronization of Rigid Joint Robots; An Experimental Case Study; Synchronization in Other Mechanical Systems. Readership: Students and researchers in mechanical engineering and control theory.
Local Note:
Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, 2020. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries.
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