Multi-Arm Cooperating Robots: Dynamics and Control

Description

Multi-Arm Cooperating Robots: Dynamics and Control (Microprocessor-Based and Intelligent Systems Engineering)

 

By M.D. Zivanovic, M.K. Vukobratovic,

Publisher:   Springer
Number Of Pages:   288
Publication Date:   2006-02-10
Sales Rank:   2543182
ISBN / ASIN:   140204268X
EAN:   9781402042683
Binding:   Hardcover
Manufacturer:   Springer
Studio:   Springer

Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative manipulation and finding a way for a sufficiently exact characterization of cooperative system statics, kinematics and dynamics. After successfully completing this task, in the frame of the second task, the problem of coordinated motion of the cooperative system is solved. Finally, as a solution to the third task, the control laws of cooperative manipulation are synthesized. The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears. In static and dynamic analysis of the elastic structure of cooperative systems the finite element method is applied. In contrast to the procedure used in the major part of the available literature where deformation work is expressed by deviations from the unloaded state of fixed elastic structure, in this monograph the deformation work is expressed by internal forces as a function of the absolute coordinates of contacts of mobile elastic structure. Coordinated motion and control in cooperative manipulation are solved as the problem of coordinated motion and control of a mobile elastic structure, taking into account the specific features of cooperative manipulation. Coordinated motion and control laws in cooperative manipulation are synthesized on the basis of a non-linear model where the problem of uncertainty is solved, which is not the case in the available literature. Simple examples demonstrate the consistent procedure of mathematical modeling and synthesis of nominal coordinated motion, as well as control of the cooperative system. This book will be useful to a wide audience of engineers, ranging from undergraduate and graduate students, new and advanced academic researchers, to practitioners (mechanical and electrical engineers, computer and system scientists). It is intended for readers whose work involves manufacturing, industrial, robotics, automation, computer and control engineering, and who wish to find out about this important new technology and its potential advantages for control engineering applications.

http://mihd.net/njuprb

http://rapidshare.com/files/44755491/Zivanovic.rar.html

http://rapidshare.com/files/44757180/zivanovic.rar

Disclaimer:
Contents of this page are indexed from the Internet. All actions are under your responsability. Email us to report illegal contents or external links and we'll remove them immediately.

Please check the description for download links if any or do a search to find alternative books.

Can't Download?
Please search mirrors if you can't find download links for "Multi-Arm Cooperating Robots: Dynamics and Control" in "Description" and someone else may update the links. Check the comments when back to find any updates.

Search Mirrors
Maybe some mirror pages will be helpful, search this book at top of this page or click here to find more info.

1. Ebooks list page : 1149
2. Multi-Arm Cooperating Robots: Dynamics and Control
3. Multi-Arm Cooperating Robots: Dynamics and Control (Microprocessor-Based and Intelligent Systems Engineering)
4. Multi-Arm Cooperating Robots: Dynamics and Control (Microprocessor-Based and Intelligent Systems Engineering)
5. Bio-mechanisms of Swimming and Flying: Fluid Dynamics, Biomimetic Robots, and Sports Science
6. Modeling, Identification and Control of Robots
7. Dynamics, Bifurcations and Control (Lecture Notes in Control and Information Sciences)
8. Control in an Information Rich World: Report of the Panel on Future Directions in Control, Dynamics, and Systems
9. [share_ebook] Process Dynamics and Control Modeling for Control and Prediction
10. Process Dynamics and Control: Modeling for Control and Prediction (repost)
11. Process Dynamics and Control: Modeling for Control and Prediction
12. Process Dynamics and Control: Modeling for Control and Prediction
13. Autonomous Robots: Modeling, Path Planning, and Control
14. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots
15. Autonomous Robots: Modeling, Path Planning, and Control
16. Multi-Wavelength Observations of Coronal Structure and Dynamics