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Mechanics And Control
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Book Synopsis Mechanics and Control by : Janisław M. Skowroński
Download or read book Mechanics and Control written by Janisław M. Skowroński and published by Springer. This book was released on 1992 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: The workshop on Control Mechanics, originated in 1988, beca- me an annual event and gained considerable recognition in advancing control of nonlinear and uncertain mechanical sy- tems and promoting application of advanced mechanics in con- trol. The fourth meeting continues the tradition with 17 papers containing original and recent work of the partici- pants developed in 3 basic directions: feed-back control of uncertain systems, flexible mechanical structures and flight control.
Book Synopsis Introduction To Robotics: Mechanics And Control, 3/E by : John J. Craig
Download or read book Introduction To Robotics: Mechanics And Control, 3/E written by John J. Craig and published by Pearson Education India. This book was released on 2009 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Nonholonomic Mechanics and Control by : A.M. Bloch
Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer. This book was released on 2015-11-05 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
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 Parallel Robots by : Hamid D. Taghirad
Download or read book Parallel Robots written by Hamid D. Taghirad and published by CRC Press. This book was released on 2013-04-08 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel structures are more effective than serial ones for industrial automation applications that require high precision and stiffness, or a high load capacity relative to robot weight. Although many industrial applications have adopted parallel structures for their design, few textbooks introduce the analysis of such robots in terms of dynamics and control. Filling this gap, Parallel Robots: Mechanics and Control presents a systematic approach to analyze the kinematics, dynamics, and control of parallel robots. It brings together analysis and design tools for engineers and researchers who want to design and implement parallel structures in industry. Covers Kinematics, Dynamics, and Control in One Volume The book begins with the representation of motion of robots and the kinematic analysis of parallel manipulators. Moving beyond static positioning, it then examines a systematic approach to performing Jacobian analysis. A special feature of the book is its detailed coverage of the dynamics and control of parallel manipulators. The text examines dynamic analysis using the Newton-Euler method, the principle of virtual work, and the Lagrange formulations. Finally, the book elaborates on the control of parallel robots, considering both motion and force control. It introduces various model-free and model-based controllers and develops robust and adaptive control schemes. It also addresses redundancy resolution schemes in detail. Analysis and Design Tools to Help You Create Parallel Robots In each chapter, the author revisits the same case studies to show how the techniques may be applied. The case studies include a planar cable-driven parallel robot, part of a promising new generation of parallel structures that will allow for larger workspaces. The MATLAB® code used for analysis and simulation is available online. Combining the analysis of kinematics and dynamics with methods of designing controllers, this text offers a holistic introduction for anyone interested in designing and implementing parallel robots.
Book Synopsis Geometric Control of Mechanical Systems by : Francesco Bullo
Download or read book Geometric Control of Mechanical Systems written by Francesco Bullo and published by Springer. This book was released on 2019-06-12 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Download or read book ROBOTICS written by GURUPRASAD, K. R. and published by PHI Learning Pvt. Ltd.. This book was released on 2019-09-01 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focusses on one of the important classes of Robots known as manipulators or robotic arms, and provides a thorough treatment of its kinematics, dynamics, and control. The book also covers the problem of trajectory generation and robot programming. The text, apart from providing a detailed account of topics such as on taxonomy of robots, spatial description of rigid bodies, kinematics of manipulator, concept of dexterous workspace, concept of singularity, manipulator dynamics using both the Newton–Euler and Lagrangian approaches with a deeper insight into the manipulator dynamics, manipulator control, and programming, additionally encompasses topics on motion planning, intelligent control, and distributed control of manipulators. The book is an excellent learning resource for understanding the complexities of manipulator design, analysis, and operation. It clearly presents ideas without compromising on the mathematical rigour. KEY FEATURES • Full coverage of syllabi of all the Indian universities • Based on classroom-tested lecture notes • Numerous illustrative examples • Chapter-end problems for brainstorming Primarily designed for students studying Robotics in undergraduate and postgraduate engineering courses in mechanical and mechatronics disciplines, the book is also of immense value to the students pursuing research in robotics. Instructor Resources PPTs and Solution Manual are also available for the faculty members who adopt the book.
Book Synopsis Nonsmooth Mechanics by : Bernard Brogliato
Download or read book Nonsmooth Mechanics written by Bernard Brogliato and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 565 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thank you for opening the second edition of this monograph, which is devoted to the study of a class of nonsmooth dynamical systems of the general form: ::i; = g(x,u) (0. 1) f(x, t) 2: 0 where x E JRn is the system's state vector, u E JRm is the vector of inputs, and the function f (-, . ) represents a unilateral constraint that is imposed on the state. More precisely, we shall restrict ourselves to a subclass of such systems, namely mechanical systems subject to unilateral constraints on the position, whose dynamical equations may be in a first instance written as: ii= g(q,q,u) (0. 2) f(q, t) 2: 0 where q E JRn is the vector of generalized coordinates of the system and u is an in put (or controller) that generally involves a state feedback loop, i. e. u= u(q, q, t, z), with z= Z(z, q, q, t) when the controller is a dynamic state feedback. Mechanical systems composed of rigid bodies interacting fall into this subclass. A general prop erty of systems as in (0. 1) and (0. 2) is that their solutions are nonsmooth (with respect to time): Nonsmoothness arises primarily from the occurence of impacts (or collisions, or percussions) in the dynamical behaviour, when the trajectories attain the surface f(x, t) = O. They are necessary to keep the trajectories within the subspace = {x : f(x, t) 2: O} of the system's state space.
Download or read book Human Robotics written by Etienne Burdet and published by MIT Press. This book was released on 2013-09-13 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system. This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one. The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living. The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.
Book Synopsis Modeling and Control in Solid Mechanics by : A.M. Khludnev
Download or read book Modeling and Control in Solid Mechanics written by A.M. Khludnev and published by Birkhäuser. This book was released on 2012-12-06 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: New trends in free boundary problems and new mathematical tools together with broadening areas of applications have led to attempts at presenting the state of art of the field in a unified way. In this monograph we focus on formal models representing contact problems for elastic and elastoplastic plates and shells. New approaches open up new fields for research. For example, in crack theory a systematic treatment of mathematical modelling and optimization of problems with cracks is required. Similarly, sensitivity analysis of solutions to problems subjected to perturbations, which forms an important part of the problem solving process, is the source of many open questions. Two aspects of sensitivity analysis, namely the behaviour of solutions under deformations of the domain of integration and perturbations of surfaces seem to be particularly demanding in this context. On writing this book we aimed at providing the reader with a self-contained study of the mathematical modelling in mechanics. Much attention is given to modelling of typical constructions applied in many different areas. Plates and shallow shells which are widely used in the aerospace industry provide good exam ples. Allied optimization problems consist in finding the constructions which are of maximal strength (endurance) and satisfy some other requirements, ego weight limitations. Mathematical modelling of plates and shells always requires a reasonable compromise between two principal needs. One of them is the accuracy of the de scription of a physical phenomenon (as required by the principles of mechanics).
Book Synopsis Fundamentals of Mechanics of Robotic Manipulation by : Marco Ceccarelli
Download or read book Fundamentals of Mechanics of Robotic Manipulation written by Marco Ceccarelli and published by Springer Nature. This book was released on 2022-03-30 with total page 398 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book explores the fundamental issues of robot mechanics for both the analysis and design of manipulations, manipulators and grippers, taking into account a central role of mechanics and mechanical structures in the development and use of robotic systems with mechatronic design. It examines manipulations that can be performed by robotic manipulators. The contents of the book are kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and purposes. The introduction illustrates motivations and historical developments of robotic mechanical systems. Chapter 2 describes the analysis and design of manipulations by automatic machinery and robots; chapter 3 deals with the mechanics of serial-chain manipulators with the aim to propose algorithms for analysis, simulation, and design purposes; chapter 4 introduces the mechanics of parallel manipulators; chapter 5 addresses the attention to mechanical grippers and related mechanics of grasping.
Download or read book Modern Robotics written by Julian Evans and published by Larsen and Keller Education. This book was released on 2019-06-27 with total page 197 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robotics is involved in the design, construction and use of robots and their control systems. These are developed with the objective of minimizing human effort or substituting for humans in environments, which are dangerous for human survival such as bomb detection and deactivation, in space, etc. Robotics integrates the techniques of electrical engineering, artificial intelligence, mechanical engineering, etc. for the conception, operation and manufacture of robots. Some common areas where robots are being used include medicine, surgery, military, and manufacturing, where efficiency and precision is of the utmost essence. The components of a robot are a power source, actuators, sensors and manipulators. Solar, nuclear and hydraulic power can be used to drive a robot. This book elucidates the concepts and innovative models around prospective developments in the field of robotics in the modern scenario. Some of the diverse topics covered in this book address the mechanics, systems and control of robotic systems. It aims to serve as a resource guide for students and experts alike and contribute to the growth of the disciplines.
Book Synopsis Mechanics of non-holonomic systems by : Sh.Kh Soltakhanov
Download or read book Mechanics of non-holonomic systems written by Sh.Kh Soltakhanov and published by Springer Science & Business Media. This book was released on 2009-05-27 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system of equations of motion in the generalized coordinates is regarded as a one vector relation, represented in a space tangential to a manifold of all possible positions of system at given instant. The tangential space is partitioned by the equations of constraints into two orthogonal subspaces. In one of them for the constraints up to the second order, the motion low is given by the equations of constraints and in the other one for ideal constraints, it is described by the vector equation without reactions of connections. In the whole space the motion low involves Lagrangian multipliers. It is shown that for the holonomic and nonholonomic constraints up to the second order, these multipliers can be found as the function of time, positions of system, and its velocities. The application of Lagrangian multipliers for holonomic systems permits us to construct a new method for determining the eigenfrequencies and eigenforms of oscillations of elastic systems and also to suggest a special form of equations for describing the system of motion of rigid bodies. The nonholonomic constraints, the order of which is greater than two, are regarded as programming constraints such that their validity is provided due to the existence of generalized control forces, which are determined as the functions of time. The closed system of differential equations, which makes it possible to find as these control forces, as the generalized Lagrange coordinates, is compound. The theory suggested is illustrated by the examples of a spacecraft motion. The book is primarily addressed to specialists in analytic mechanics.
Book Synopsis Solution Manual for Mechanics and Control of Robots by : Krishna C. Gupta
Download or read book Solution Manual for Mechanics and Control of Robots written by Krishna C. Gupta and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 57 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intended as an introduction to robot mechanics for students of mechanical, industrial, electrical, and bio-mechanical engineering, this graduate text presents a wide range of approaches and topics. It avoids formalism and proofs but nonetheless discusses advanced concepts and contemporary applications. It will thus also be of interest to practicing engineers. The book begins with kinematics, emphasizing an approach based on rigid-body displacements instead of coordinate transformations; it then turns to inverse kinematic analysis, presenting the widely used Pieper-Roth and zero-reference-position methods. This is followed by a discussion of workplace characterization and determination. One focus of the discussion is the motion made possible by sperical and other novel wrist designs. The text concludes with a brief discussion of dynamics and control. An extensive bibliography provides access to the current literature.
Book Synopsis Nonlinear Control and Analytical Mechanics by : Harry G. Kwatny
Download or read book Nonlinear Control and Analytical Mechanics written by Harry G. Kwatny and published by Springer Science & Business Media. This book was released on 2000-09-08 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.
Book Synopsis Introduction to Robotics by : John J. Craig
Download or read book Introduction to Robotics written by John J. Craig and published by Addison-Wesley Longman. This book was released on 2005 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics.
Book Synopsis Calculus of Variations by : Charles R. MacCluer
Download or read book Calculus of Variations written by Charles R. MacCluer and published by Courier Corporation. This book was released on 2013-05-20 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: First truly up-to-date treatment offers a simple introduction to optimal control, linear-quadratic control design, and more. Broad perspective features numerous exercises, hints, outlines, and appendixes, including a practical discussion of MATLAB. 2005 edition.
