Control of Manipulation Robots: Theory and Application: Communications and Control Engineering, cartea 2
Autor M. Vukobratovic, D. Stokicen Limba Engleză Paperback – 8 dec 2011
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Specificații
ISBN-13: 9783642818592
ISBN-10: 3642818595
Pagini: 384
Ilustrații: XIV, 366 p.
Dimensiuni: 170 x 244 x 20 mm
Greutate: 0.61 kg
Ediția:Softcover reprint of the original 1st ed. 1982
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seriile Communications and Control Engineering, Scientific Fundamentals of Robotics
Locul publicării:Berlin, Heidelberg, Germany
ISBN-10: 3642818595
Pagini: 384
Ilustrații: XIV, 366 p.
Dimensiuni: 170 x 244 x 20 mm
Greutate: 0.61 kg
Ediția:Softcover reprint of the original 1st ed. 1982
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seriile Communications and Control Engineering, Scientific Fundamentals of Robotics
Locul publicării:Berlin, Heidelberg, Germany
Public țintă
ResearchCuprins
General Principles of Control Synthesis of Robots and Manipulators.- — system class definition.- Classification of robots.- Requirements of robot control synthesis.- Brief survey of results from the domain of robot control synthesis.- Principles of robot control synthesis.- References.- 1 Dynamics of Manipulators.- 1.1. Method for the construction of dynamic equation based on the basic theorems of mechanics.- 1.2. The complete dynamical model of manipulation systems.- 1.3. Computer oriented method for linearization of dynamic models of open kinematic chains.- References.- 2 Synthesis of Manipulation Control.- 2.1. Introduction.- 2.2. Definition of the control task.- 2.3. Stage of nominal dynamics.- 2.4. Stage of perturbed dynamics.- 2.5. Linear optimal regulator.- 2.6. Synthesis of decentralized and global control-stage of perturbed dynamics.- 2.7. Discrete-time control synthesis.- 2.8. An interactive computer-oriented algorithm for control synthesis.- 2.9. Conclusion.- References.- Appendix 2. A. Suboptimality of Global Control.- Appendix 2. B. Analysis of »Distribution of the Model« Between Subsystems and Coupling.- Reference.- Appendix 2. C. Stability Analysis of System with Decentralized Regulator and Observer.- References.- 3 Control Synthesis for Typical Manipulations Tasks.- 3.1. Introduction.- 3.2. Task of transferring the manipulator tip along a desired trajectory.- 3.3. Transfer of working object with desired orientation along prescribed trajectory.- 3.4. Control of orientation of gripper using load-feedback.- 3.5. Assembly process.- 3.6. Multiprocessor realization of decentralized and global control.- 3.7. Conclusion.- References.- Appendix 3. A. Simulation Algorithm for Assembly.