Advanced dynamics modeling, duality and control of robotic systems. (2021)

• Record Type: Book
• Further Information: Note: Edward Y.L. Gu.
• Authors: Gu, Edward Y. L
• Contents: Chapter 1 Introduction; 1.1 Kinematics, Statics and Dynamics; 1.2 Dynamics Modeling and Model Compaction; 1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics; 1.4 Adaptive and Interactive Control of Robotic Systems; 1.5 The Organization of the Book Chapter 2 Fundamental Preliminaries; 2.1 Mathematical Preparations; 2.2 Robot Kinematics: Theories and Representations; 2.3 Robot Statics and Applications Chapter 3 Robot Dynamics Modeling; 3.1 The History of Robot Dynamic Formulations; 3.2 The Assumption of Rigid Body and Rigid Motion; 3.3 Kinetic Energy, Potential Energy and Lagrange Equations; 3.4 Dynamic Formulations for Robotic Systems Chapter 4 Advanced Dynamics Modeling; 4.1 The Configuration Manifold and Isometric Embedding; 4.2 How To Find an Isometric Embedding; 4.3 Applications to Robot Dynamics Modeling Chapter 5 The Principle of Duality in Kinematics and Dynamics; 5.1 Kinematic Structures for Stewart Platform; 5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots; 5.3 Duality Between Open Serial-Chain and Closed Parallel-Chain Systems; 5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots Chapter 6 Nonlinear Control Theories; 6.1 Lyapunov Stability Theories and Control Strategies; 6.2 Controllability and Observability; 6.3 Input-State and Input-Output State-Feedback Linearization; 6.4 Isometric Embedding Dynamic Model and Control; 6.5 Linearizable Subsystems and Internal Dynamics; 6.6 Control of a Minimum-Phase System; 6.7 Examples of Partially Linearizable Systems with Internal Dynamics Chapter 7 Adaptive Control of Robotic Systems; 7.1 The Control Law and Adaptation Law; 7.2 Applications and Simulation/Animation Studies Chapter 8 Dynamics Modeling and Control of Cascaded Systems; 8.1 Dynamic Interactions Between Robot and Environment; 8.2 Cascaded DynamicsModels with Backstepping Control Recursion; 8.3 Modeling and InteractiveControl of Robot-Environment Systems
• Edition: 1st
• Publisher Details: Boca Raton : CRC Press
• Publication Date: 2021
• Extent: 1 online resource, illustrations (black and white)
• Subjects: 629.892; Robotics -- Industrial applications; Systems engineering; Automatic control
• Languages: English
• ISBNs: 9781000454888; 9781000454864; 9781003129165
• Related ISBNs: 9780367653712
• Notes: Note: Description based on CIP data; resource not viewed.
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.