Inverse Dynamics And Trajectory Tracking
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Inverse Dynamics And Trajectory Tracking
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Author : Stefan Reichl
language : en
Publisher: Sudwestdeutscher Verlag Fur Hochschulschriften AG
Release Date : 2011
Inverse Dynamics And Trajectory Tracking written by Stefan Reichl and has been published by Sudwestdeutscher Verlag Fur Hochschulschriften AG this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Inverse dynamics problems arise in several mechanical systems. The aim is to calculate the inputs of a system in order that the outputs are identical to predefined or measured target signals. The motivation for inverse methods is related to practical applications in robotics, cranes or test rigs in the automotive and agricultural industry. The book considers four mathematical methods regarding to inverse problems in underactuated multibody systems. The first method under consideration is called virtual iteration. The algorithm is suitable for large multibody systems and finite element models, which are nearly linear. The second approach formulates the equations of motion as differential-algebraic equations and introduces so called control or servo constraints. The inverse problem can also be formulated as an optimal control problem. The basis is a cost functional, which includes the system outputs and the targets. The fourth method is a flatness-based trajectory tracking control. The considered methods are applied to academic and industrial examples.
Inverse Dynamics And Trajectory Tracking Of Underactuated Multibody Systems
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Author : Stefan Reichl
language : en
Publisher:
Release Date : 2011
Inverse Dynamics And Trajectory Tracking Of Underactuated Multibody Systems written by Stefan Reichl and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Optimal Trajectory Tracking Of Nonlinear Dynamical Systems
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Author : Jakob Löber
language : en
Publisher: Springer
Release Date : 2016-12-20
Optimal Trajectory Tracking Of Nonlinear Dynamical Systems written by Jakob Löber and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-12-20 with Science categories.
By establishing an alternative foundation of control theory, this thesis represents a significant advance in the theory of control systems, of interest to a broad range of scientists and engineers. While common control strategies for dynamical systems center on the system state as the object to be controlled, the approach developed here focuses on the state trajectory. The concept of precisely realizable trajectories identifies those trajectories that can be accurately achieved by applying appropriate control signals. The resulting simple expressions for the control signal lend themselves to immediate application in science and technology. The approach permits the generalization of many well-known results from the control theory of linear systems, e.g. the Kalman rank condition to nonlinear systems. The relationship between controllability, optimal control and trajectory tracking are clarified. Furthermore, the existence of linear structures underlying nonlinear optimal control is revealed, enabling the derivation of exact analytical solutions to an entire class of nonlinear optimal trajectory tracking problems. The clear and self-contained presentation focuses on a general and mathematically rigorous analysis of controlled dynamical systems. The concepts developed are visualized with the help of particular dynamical systems motivated by physics and chemistry.
Iutam Symposium On Intelligent Multibody Systems Dynamics Control Simulation
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Author : Evtim Zahariev
language : en
Publisher: Springer
Release Date : 2019-01-09
Iutam Symposium On Intelligent Multibody Systems Dynamics Control Simulation written by Evtim Zahariev and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-09 with Technology & Engineering categories.
This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive andactive mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.
Kinematic And Dynamic Simulation Of Multibody Systems
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Author : Javier Garcia de Jalon
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Kinematic And Dynamic Simulation Of Multibody Systems written by Javier Garcia de Jalon and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Science categories.
Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness
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Author : Bram Vanderborght
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-10-04
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness written by Bram Vanderborght and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-10-04 with Technology & Engineering categories.
This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.
Intelligent Control Robotics And Industrial Automation
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Author : Sanjay Sharma
language : en
Publisher: Springer Nature
Release Date : 2023-11-17
Intelligent Control Robotics And Industrial Automation written by Sanjay Sharma and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-11-17 with Technology & Engineering categories.
This volume comprises peer-reviewed proceedings of the International Conference on Robotics, Control, Automation, and Artificial Intelligence (RCAAI 2022). It aims to provide a broad spectrum picture of the state of art research and development in the areas of intelligent control, the Internet of Things, machine vision, cybersecurity, robotics, circuits, and sensors, among others. This volume will provide a valuable resource for those in academia and industry.
Robot Manipulators
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Author : Etienne Dombre
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-01
Robot Manipulators written by Etienne Dombre and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-01 with Technology & Engineering categories.
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Robust Control Algorithms For Flexible Manipulators
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Author : Kshetrimayum Lochan
language : en
Publisher: CRC Press
Release Date : 2024-10-13
Robust Control Algorithms For Flexible Manipulators written by Kshetrimayum Lochan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-13 with Technology & Engineering categories.
Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are comprehensively reviewed. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/ non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Natural Biodynamics
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Author : Vladimir G. Ivancevic
language : en
Publisher: World Scientific
Release Date : 2005
Natural Biodynamics written by Vladimir G. Ivancevic and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005 with Science categories.
This comprehensive volume is a graduate-level text in human biodynamics, written in the unified categorical language of modern differential geometry and topology. Combining mathematics, physics and robotics with human physiology, this is the first book that describes all levels of human biodynamics, from musculo-skeletal mechanics to the higher brain functions. The book develops and uses a variety of research methods, ranging from chaos theory and Haken's synergetics, through quantum mechanics, to nonlinear control and artificial intelligence, to provide the means to understand, predict and control the behavior of human-like systems in their full neuro-musculo-skeletal complexity. The applications of this unique scientific methodology range from prediction of human neuro-musculo-skeletal injuries to brain-like control of humanoid robots.