Modeling And Ipc Control Of Interactive Mechanical Systems A Coordinate Free Approach

Author : Stefano Stramigioli
Publisher : Springer
Page : 280 pages
File Size : 52,8 Mb
Release : 2014-10-03
Category : Technology & Engineering
ISBN : 1447139615

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Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach by Stefano Stramigioli Pdf

Robots, and more generally mechanical systems, are types of a physical system. This is why it is important to study and control these systems using information about their particular structure that describes their particular nature. In discussing physical systems, concepts like energy, interconnection and interaction, become of substantial importance. Furthermore, during the modeling and control tasks, the results we obtain should be independent from artificial co-ordinates that people use to analyse the results of their work. This has lead to the concept of co-ordinate free description and tensors that have been used a lot in the theory of relativity. Throughout this book emphasis is placed on the intrinsic description of the results reported. The book describes the modeling and control of robotic systems subject to interaction. It covers everything from basic concepts of differential geometry to real robotics. Physics and the geometric interconnection of arts play a major role throughout the work.

Author : Francesco Bullo,Andrew D. Lewis
Publisher : Springer
Page : 727 pages
File Size : 51,8 Mb
Release : 2019-06-12
Category : Science
ISBN : 9781489972767

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Geometric Control of Mechanical Systems by Francesco Bullo,Andrew D. Lewis Pdf

The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.

Author : Cristian Secchi,Stefano Stramigioli,Cesare Fantuzzi
Publisher : Springer
Page : 233 pages
File Size : 52,9 Mb
Release : 2007-04-16
Category : Technology & Engineering
ISBN : 9783540497158

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Control of Interactive Robotic Interfaces by Cristian Secchi,Stefano Stramigioli,Cesare Fantuzzi Pdf

This monograph deals with energy based control of interactive robotic interfaces. The port-Hamiltonian framework is exploited both for modeling and controlling interactive robotic interfaces. The book provides an energy oriented analysis and control synthesis of interactive robotic interfaces, from a single robot to multi-robot systems for interacting with real and virtual, possibly unstructured, environments.

Author : Vincent Duindam,Alessandro Macchelli,Stefano Stramigioli,Herman Bruyninckx
Publisher : Springer Science & Business Media
Page : 423 pages
File Size : 52,7 Mb
Release : 2009-10-15
Category : Technology & Engineering
ISBN : 9783642031960

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Modeling and Control of Complex Physical Systems by Vincent Duindam,Alessandro Macchelli,Stefano Stramigioli,Herman Bruyninckx Pdf

Energy exchange is a major foundation of the dynamics of physical systems, and, hence, in the study of complex multi-domain systems, methodologies that explicitly describe the topology of energy exchanges are instrumental in structuring the modeling and the computation of the system's dynamics and its control. This book is the outcome of the European Project "Geoplex" (FP5 IST-2001-34166) that studied and extended such system modeling and control methodologies. This unique book starts from the basic concept of port-based modeling, and extends it to port-Hamiltonian systems. This generic paradigm is applied to various physical domains, showing its power and unifying flexibility for real multi-domain systems.

Author : SangJoo Kwon,Wan Kyun Chung
Publisher : Springer Science & Business Media
Page : 168 pages
File Size : 48,7 Mb
Release : 2004-07-07
Category : Technology & Engineering
ISBN : 3540220771

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Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems by SangJoo Kwon,Wan Kyun Chung Pdf

This monograph investigates a practical way to achieve robust motion control and state estimation (Kalman filtering) of mechanical systems, which is a promising approach in terms of the perturbation compensator. The book presents novel approaches for design and analysis of perturbation observers as well as an extension to robust motion control and robust state estimation. The book is written in a self-contained manner including experimental results in each chapter clearly validating the developed theories.

Author : Youngjin Choi,Wan Kyun Chung
Publisher : Springer Science & Business Media
Page : 132 pages
File Size : 53,7 Mb
Release : 2004-01-23
Category : Technology & Engineering
ISBN : 3540205675

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PID Trajectory Tracking Control for Mechanical Systems by Youngjin Choi,Wan Kyun Chung Pdf

Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this book. There are many books of PID controller for the purpose of process control, but it is hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method ?nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di?erent from set-point regulation one in that the desired con?guration, velocity and acceleration pro?les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.

Author : Vincent Duindam,Stefano Stramigioli
Publisher : Springer Science & Business Media
Page : 219 pages
File Size : 52,7 Mb
Release : 2009-01-17
Category : Technology & Engineering
ISBN : 9783540899174

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Modeling and Control for Efficient Bipedal Walking Robots by Vincent Duindam,Stefano Stramigioli Pdf

By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Author : Rolf Drechsler,Ulrich Kühne
Publisher : Springer
Page : 313 pages
File Size : 40,9 Mb
Release : 2015-06-05
Category : Computers
ISBN : 9783658099947

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Formal Modeling and Verification of Cyber-Physical Systems by Rolf Drechsler,Ulrich Kühne Pdf

This book presents the lecture notes of the 1st Summer School on Methods and Tools for the Design of Digital Systems, 2015, held in Bremen, Germany. The topic of the summer school was devoted to modeling and verification of cyber-physical systems. This covers several aspects of the field, including hybrid systems and model checking, as well as applications in robotics and aerospace systems. The main chapters have been written by leading scientists, who present their field of research, each providing references to introductory material as well as latest scientific advances and future research directions. This is complemented by short papers submitted by the participating PhD students.

Author : Andrzej Janczak
Publisher : Springer Science & Business Media
Page : 220 pages
File Size : 40,9 Mb
Release : 2004-11-18
Category : Technology & Engineering
ISBN : 3540231854

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Identification of Nonlinear Systems Using Neural Networks and Polynomial Models by Andrzej Janczak Pdf

This monograph systematically presents the existing identification methods of nonlinear systems using the block-oriented approach It surveys various known approaches to the identification of Wiener and Hammerstein systems which are applicable to both neural network and polynomial models. The book gives a comparative study of their gradient approximation accuracy, computational complexity, and convergence rates and furthermore presents some new and original methods concerning the model parameter adjusting with gradient-based techniques. "Identification of Nonlinear Systems Using Neural Networks and Polynomal Models" is useful for researchers, engineers and graduate students in nonlinear systems and neural network theory.

Author : Anonim
Publisher : Unknown
Page : 128 pages
File Size : 47,6 Mb
Release : 2024-06-01
Category : Electronic
ISBN : 9789814469883

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Dynamics and Robust Control of Robot-Environment Interaction by Anonim Pdf

Author : Frank Allgower,Michael Zeitz
Publisher : Elsevier
Page : 524 pages
File Size : 40,7 Mb
Release : 2005-02-02
Category : Science
ISBN : 0080443036

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Nonlinear Control Systems 2004 by Frank Allgower,Michael Zeitz Pdf

Author : Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 47,7 Mb
Release : 2010-08-20
Category : Technology & Engineering
ISBN : 9781846286414

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Robotics by Bruno Siciliano,Lorenzo Sciavicco,Luigi Villani,Giuseppe Oriolo Pdf

Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

Author : Christian Ott
Publisher : Springer Science & Business Media
Page : 198 pages
File Size : 54,6 Mb
Release : 2008-07-22
Category : Technology & Engineering
ISBN : 9783540692539

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Cartesian Impedance Control of Redundant and Flexible-Joint Robots by Christian Ott Pdf

By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdissemi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Author : Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen
Publisher : Springer Science & Business Media
Page : 388 pages
File Size : 45,6 Mb
Release : 2013-10-02
Category : Technology & Engineering
ISBN : 9781447154631

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Vehicle-Manipulator Systems by Pål Johan From,Jan Tommy Gravdahl,Kristin Ytterstad Pettersen Pdf

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.

Author : Fuchun Sun,Huaping Liu,Dewen Hu
Publisher : Springer
Page : 619 pages
File Size : 54,5 Mb
Release : 2017-07-07
Category : Computers
ISBN : 9789811052309

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Cognitive Systems and Signal Processing by Fuchun Sun,Huaping Liu,Dewen Hu Pdf

This book constitutes the refereed proceedings of the Third International Conference on Cognitive Systems and Signal Processing, ICCSIP2016, held in Beijing, China, in December 2016. The 59 revised full papers presented were carefully reviewed and selected from 171 submissions. The papers are organized in topical sections on Control and Decision; Image and Video; Machine Learning; Robotics; Cognitive System; Cognitive Signal Processing.