Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Inverse Dynamics And Trajectory Tracking
Download Inverse Dynamics And Trajectory Tracking full books in PDF, epub, and Kindle. Read online Inverse Dynamics And Trajectory Tracking ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Inverse Dynamics and Trajectory Tracking by : Stefan Reichl
Download or read book Inverse Dynamics and Trajectory Tracking written by Stefan Reichl and published by Sudwestdeutscher Verlag Fur Hochschulschriften AG. This book was released on 2011 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis Inverse Dynamics and Trajectory Tracking of Underactuated Multibody Systems by : Stefan Reichl
Download or read book Inverse Dynamics and Trajectory Tracking of Underactuated Multibody Systems written by Stefan Reichl and published by . This book was released on 2011 with total page 438 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Numerical Methods for the Inverse Dynamics Simulation of Underactuated Mechanical Systems by : Yinping Yang
Download or read book Numerical Methods for the Inverse Dynamics Simulation of Underactuated Mechanical Systems written by Yinping Yang and published by . This book was released on 2020-10-09 with total page 250 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.
Book Synopsis Numerical methods for the inverse dynamics simulation of underactuated mechanical systems by : Yang, Yinping
Download or read book Numerical methods for the inverse dynamics simulation of underactuated mechanical systems written by Yang, Yinping and published by KIT Scientific Publishing. This book was released on 2017-05-02 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
Book Synopsis PID Trajectory Tracking Control for Mechanical Systems by : Youngjin Choi
Download or read book PID Trajectory Tracking Control for Mechanical Systems written by Youngjin Choi and published by Springer Science & Business Media. This book was released on 2004-01-23 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this book. There are many books of PID controller for the purpose of process control, but it is hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method ?nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di?erent from set-point regulation one in that the desired con?guration, velocity and acceleration pro?les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Optimal Path and Trajectory Planning for Serial Robots by : Alexander Reiter
Download or read book Optimal Path and Trajectory Planning for Serial Robots written by Alexander Reiter and published by Springer Nature. This book was released on 2019-11-06 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Alexander Reiter describes optimal path and trajectory planning for serial robots in general, and rigorously treats the challenging application of path tracking for kinematically redundant manipulators therein in particular. This is facilitated by resolving both the path tracking task and the optimal inverse kinematics problem simultaneously. Furthermore, the author presents methods for fast computation of approximate optimal solutions to planning problems with changing parameters. With an optimal solution to a nominal problem, an iterative process based on parametric sensitivities is applied to rapidly obtain an approximate solution. About the Author: Dr. Alexander Reiter is a senior scientist at the Institute of Robotics of the Johannes Kepler University (JKU) Linz, Austria. His major fields of research are kinematics, dynamics, and trajectory planning for kinematically redundant serial robots as well as real-time methods for solving parametric non-linear programming problems.
Book Synopsis Dynamics of Underactuated Multibody Systems by : Robert Seifried
Download or read book Dynamics of Underactuated Multibody Systems written by Robert Seifried and published by Springer Science & Business Media. This book was released on 2013-11-08 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Book Synopsis Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator by : Yao Wang
Download or read book Symbolic Kinematics and Dynamics Analysis and Control of a General Stewart Parallel Manipulator written by Yao Wang and published by . This book was released on 2008 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Application of parallel manipulator has received a lot of attention recently in the industry and the robotic community due to its high accuracy, high rigidity, high operation speed, high load capacity and high stiffness as compared with the conventional serial manipulator. One of the most popular parallel manipulators that are commonly used for aircraft simulator is the general purpose 6 degree-of-freedom (DOF) Stewart parallel manipulator. Despite these advantages, the kinematic and dynamic analyses are extremely complicated. Such models are important in terms of qualitative analysis of the required actuator forces to realize certain end-effector task (inverse dynamics), and computing the corresponding end-effector task based on certain input to the system (forward dynamics). However, till date, not much general symbolic solution is reported to aid the above process. Most of the prior work required some form of heuristic, or introduction of extra spring/damper elements to approximate the solutions. This thesis addresses the possibility in using the state-of-the-art symbolic manipulation software tool to derive the general kinematic and dynamic equation of motion of the system so that more accurate solution can be computed. However, there are still consideration are needed to accurately simulate such systems. We address these issues using the example of Stewart parallel manipulator and highlight the solution to the corresponding challenges. Control using stabilizing inverse dynamics was implemented to enhance trajectory tracking of the system.
Author :Constantinos A. Balafoutis Publisher :Springer Science & Business Media ISBN 13 :1461539528 Total Pages :301 pages Book Rating :4.4/5 (615 download)
Book Synopsis Dynamic Analysis of Robot Manipulators by : Constantinos A. Balafoutis
Download or read book Dynamic Analysis of Robot Manipulators written by Constantinos A. Balafoutis and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.
Book Synopsis Modeling, Identification and Control of Robots by : W. Khalil
Download or read book Modeling, Identification and Control of Robots written by W. Khalil and published by Butterworth-Heinemann. This book was released on 2004-07-01 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
Book Synopsis Discrete-Time Inverse Optimal Control for Nonlinear Systems by : Edgar N. Sanchez
Download or read book Discrete-Time Inverse Optimal Control for Nonlinear Systems written by Edgar N. Sanchez and published by CRC Press. This book was released on 2017-12-19 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear systems. This avoids the need to solve the associated Hamilton-Jacobi-Bellman equation and minimizes a cost functional, resulting in a more efficient controller. Design More Efficient Controllers for Stabilization and Trajectory Tracking of Discrete-Time Nonlinear Systems The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). The synthesized discrete-time optimal controller can be directly implemented in real-time systems. The book also proposes the use of recurrent neural networks to model discrete-time nonlinear systems. Combined with the inverse optimal control approach, such models constitute a powerful tool to deal with uncertainties such as unmodeled dynamics and disturbances. Learn from Simulations and an In-Depth Case Study The authors include a variety of simulations to illustrate the effectiveness of the synthesized controllers for stabilization and trajectory tracking of discrete-time nonlinear systems. An in-depth case study applies the control schemes to glycemic control in patients with type 1 diabetes mellitus, to calculate the adequate insulin delivery rate required to prevent hyperglycemia and hypoglycemia levels. The discrete-time optimal and robust control techniques proposed can be used in a range of industrial applications, from aerospace and energy to biomedical and electromechanical systems. Highlighting optimal and efficient control algorithms, this is a valuable resource for researchers, engineers, and students working in nonlinear system control.
Book Synopsis Rigid Body Dynamics Algorithms by : Roy Featherstone
Download or read book Rigid Body Dynamics Algorithms written by Roy Featherstone and published by Springer. This book was released on 2014-11-10 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Book Synopsis Optimal Trajectory Tracking of Nonlinear Dynamical Systems by : Jakob Löber
Download or read book Optimal Trajectory Tracking of Nonlinear Dynamical Systems written by Jakob Löber and published by Springer. This book was released on 2016-12-20 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis AI based Robot Safe Learning and Control by : Xuefeng Zhou
Download or read book AI based Robot Safe Learning and Control written by Xuefeng Zhou and published by Springer. This book was released on 2020-09-18 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.
Book Synopsis A Fast Trajectory Tracking Adaptive Controller for Robot Manipulators by : Shinsuke Tagami
Download or read book A Fast Trajectory Tracking Adaptive Controller for Robot Manipulators written by Shinsuke Tagami and published by . This book was released on 1993 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive decentralized nonlinear controller for a robot manipulator is presented in this thesis. Based on the adaptive control schemes designed by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further simplified the control algorithm and, as a consequence, we achieved better path tracking performance. The proposed adaptive controller is made of a PD feedback controller which has time varying gains, a feedforward compensator based on the idea of inverse dynamics, and an auxiliary signal. Due to its adaptive structure, the controller shows robustness against disturbances and unmodeled dynamics. In order to ensure asymptotic tracking we select a Lyapunov function such that the controller forces the negative definiteness of the time derivative of such a Lyapunov function. To do this, the tracking position and velocity error are penalized and used as a part of the adaptive control gain. The main advantages of this scheme are the comparably faster convergence of tracking error, relatively simpler structure, and smoother control activity. This controller only requires the position and angular speed measurement, it does not require any knowledge about the mathematical model of the robot manipulator. Simulation shows the capacity of this controller and its robustness against disturbances.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt:
