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Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Kevin M. Lynch
Publisher: Cambridge University Press
ISBN: 1107156300
Category : Computers
Languages : en
Pages : 545
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Book Description
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Author: Janisław M. Skowroński
Publisher: Springer
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 312
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Book Description
The workshop on Control Mechanics, originated in 1988, beca- me an annual event and gained considerable recognition in advancing control of nonlinear and uncertain mechanical sy- tems and promoting application of advanced mechanics in con- trol. The fourth meeting continues the tradition with 17 papers containing original and recent work of the partici- pants developed in 3 basic directions: feed-back control of uncertain systems, flexible mechanical structures and flight control.
Author: A.M. Bloch
Publisher: Springer Science & Business Media
ISBN: 0387216448
Category : Mathematics
Languages : en
Pages : 498
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Book Description
This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Author: John J. Craig
Publisher: Pearson Education India
ISBN: 9788131718360
Category : Robotics
Languages : en
Pages : 412
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Book Description
Author: Hamid D. Taghirad
Publisher: CRC Press
ISBN: 1466599286
Category : Technology & Engineering
Languages : en
Pages : 537
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Book Description
Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics
Author: GURUPRASAD, K. R.
Publisher: PHI Learning Pvt. Ltd.
ISBN: 9388028627
Category : Technology & Engineering
Languages : en
Pages : 242
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Book Description
This book focusses on one of the important classes of Robots known as manipulators or robotic arms, and provides a thorough treatment of its kinematics, dynamics, and control. The book also covers the problem of trajectory generation and robot programming. The text, apart from providing a detailed account of topics such as on taxonomy of robots, spatial description of rigid bodies, kinematics of manipulator, concept of dexterous workspace, concept of singularity, manipulator dynamics using both the Newton–Euler and Lagrangian approaches with a deeper insight into the manipulator dynamics, manipulator control, and programming, additionally encompasses topics on motion planning, intelligent control, and distributed control of manipulators. The book is an excellent learning resource for understanding the complexities of manipulator design, analysis, and operation. It clearly presents ideas without compromising on the mathematical rigour. KEY FEATURES • Full coverage of syllabi of all the Indian universities • Based on classroom-tested lecture notes • Numerous illustrative examples • Chapter-end problems for brainstorming Primarily designed for students studying Robotics in undergraduate and postgraduate engineering courses in mechanical and mechatronics disciplines, the book is also of immense value to the students pursuing research in robotics. Instructor Resources PPTs and Solution Manual are also available for the faculty members who adopt the book.
Author: Harry G. Kwatny
Publisher: Springer Science & Business Media
ISBN: 9780817641474
Category : Computers
Languages : en
Pages : 338
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Book Description
During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.
Author: Etienne Burdet
Publisher: MIT Press
ISBN: 0262314827
Category : Science
Languages : en
Pages : 291
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Book Description
A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system. This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one. The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living. The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.
Author: Francesco Bullo
Publisher: Springer
ISBN: 1489972765
Category : Science
Languages : en
Pages : 727
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Book Description
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: Bernard Brogliato
Publisher: Springer Science & Business Media
ISBN: 1447105575
Category : Technology & Engineering
Languages : en
Pages : 565
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Book Description
Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.
