E-Book, Englisch, Band 30, 288 Seiten
Reihe: Microprocessor-Based and Intelligent Systems Engineering
Zivanovic / Vukobratovic Multi-Arm Cooperating Robots
1. Auflage 2006
ISBN: 978-1-4020-4269-0
Verlag: Springer Netherlands
Format: PDF
Kopierschutz: 1 - PDF Watermark
Dynamics and Control
E-Book, Englisch, Band 30, 288 Seiten
Reihe: Microprocessor-Based and Intelligent Systems Engineering
ISBN: 978-1-4020-4269-0
Verlag: Springer Netherlands
Format: PDF
Kopierschutz: 1 - PDF Watermark
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. This results in a completely different way of considering statics and dynamics of the elastic structure of cooperative systems in the present volume than in the available literature, and also in a different methodology. As an illustration, simulation was carried out for a simple example of the work of the cooperative system controlled by synthesized control laws, in contrast to the procedure used in the major part of the available literature. 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.
Zielgruppe
Automation and Robotics, Control Engineering, cooperation robots, cooperative manipulation, kinematics
