Synchronization of mechanical systems / Henk Nijmeijer, Alejandro Rodriguez-Angeles.

Format:

Book

Author/Creator:

Nijmeijer, H. (Hendrik), 1955-

Contributor:

Rodriguez-Angeles, Alejandro.

Series:

World Scientific series on nonlinear science. Monographs and treatises ; Series A, v. 46.

World Scientific series on nonlinear science. Series A ; vol. 46

Language:

English

Subjects (All):

Robots--Control systems.

Robots.

Synchronization.

Physical Description:

1 online resource (219 p.)

Edition:

1st ed.

Place of Publication:

Singapore ; River Edge, NJ : World Scientific, c2003.

Language Note:

English

Summary:

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

Contents:

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

Notes:

Description based upon print version of record.

Includes bibliographical references (p. 197-202) and index.

ISBN:

9786611935443

9781281935441

1281935441

9789812794970

9812794972

OCLC:

879074272