Synchronization of mechanical systems /:
The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization sche...
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Singapore ; River Edge, NJ :
World Scientific,
©2003.
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| Schriftenreihe: | World Scientific series on nonlinear science. Monographs and treatises ;
v. 46. |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Zusammenfassung: | The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be ex. |
| Beschreibung: | 1 online resource (xii, 205 pages) : illustrations |
| Bibliographie: | Includes bibliographical references (pages 197-202) and index. |
| ISBN: | 9789812794970 9812794972 |
Internformat
MARC
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| 100 | 1 | |a Nijmeijer, H. |q (Hendrik), |d 1955- |1 https://id.oclc.org/worldcat/entity/E39PCjDftqvyQxfBhjvypjHW8P |0 http://id.loc.gov/authorities/names/n88298367 | |
| 245 | 1 | 0 | |a Synchronization of mechanical systems / |c Henk Nijmeijer, Alejandro Rodriguez-Angeles. |
| 260 | |a Singapore ; |a River Edge, NJ : |b World Scientific, |c ©2003. | ||
| 300 | |a 1 online resource (xii, 205 pages) : |b illustrations | ||
| 336 | |a text |b txt |2 rdacontent | ||
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| 490 | 1 | |a World Scientific series on nonlinear science. Series A ; |v vol. 46 | |
| 504 | |a Includes bibliographical references (pages 197-202) and index. | ||
| 588 | 0 | |a Print version record. | |
| 505 | 0 | |a Preface; Contents; 1. Introduction; 1.1 General introduction; 1.2 Synchronization; 1.3 Synchronization in robotic systems; 1.3.1 Velocity and acceleration measurements; 1.3.2 Joint flexibility; 1.3.3 Friction phenomena; 1.4 Problem formulation; 1.4.1 External synchronization of rigid joint robots; 1.4.2 External synchronization of flexible joint robots; 1.4.3 Mutual (internal) synchronization of rigid joint robots; 1.5 Scope of the book; 1.6 Outline of the book; 2. Preliminaries; 2.1 Mathematical preliminaries and stability concepts; 2.1.1 Basic definitions; 2.1.2 Lyapunov stability. | |
| 505 | 8 | |a 2.1.3 Stability of perturbed systems2.2 Dynamic models of robot manipulators; 2.2.1 Rigid joint robots; 2.2.2 Flexible joint robots; 2.2.3 Properties of the dynamic model of the robots; 2.2.4 Friction phenomena; 2.3 Experimental setup; 3. External synchronization of rigid joint robots; 3.1 Introduction; 3.2 Synchronization controller based on state feedback; 3.3 Synchronization controller based on estimated variables; 3.3.1 Feedback control law; 3.3.2 An observer for the synchronization errors; 3.3.3 An observer for the slave joint variables; 3.3.4 Synchronization closed loop error dynamics. | |
| 505 | 8 | |a 3.3.5 Stability analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors. | |
| 505 | 8 | |a 4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics. | |
| 505 | 8 | |a 5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system. | |
| 520 | |a The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be ex. | ||
| 650 | 0 | |a Robots |x Control systems. |0 http://id.loc.gov/authorities/subjects/sh89001406 | |
| 650 | 0 | |a Synchronization. |0 http://id.loc.gov/authorities/subjects/sh85131609 | |
| 650 | 6 | |a Robots |x Systèmes de commande. | |
| 650 | 6 | |a Synchronisation. | |
| 650 | 7 | |a TECHNOLOGY & ENGINEERING |x Robotics. |2 bisacsh | |
| 650 | 7 | |a Robots |x Control systems |2 fast | |
| 650 | 7 | |a Synchronization |2 fast | |
| 700 | 1 | |a Rodriguez-Angeles, Alejandro. |1 https://id.oclc.org/worldcat/entity/E39PCjtYcH8bD967cbGg9c4FVd |0 http://id.loc.gov/authorities/names/no2004035449 | |
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| author | Nijmeijer, H. (Hendrik), 1955- |
| author2 | Rodriguez-Angeles, Alejandro |
| author2_role | |
| author2_variant | a r a ara |
| author_GND | http://id.loc.gov/authorities/names/n88298367 http://id.loc.gov/authorities/names/no2004035449 |
| author_facet | Nijmeijer, H. (Hendrik), 1955- Rodriguez-Angeles, Alejandro |
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| author_sort | Nijmeijer, H. 1955- |
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| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| collection | ZDB-4-EBA |
| contents | Preface; Contents; 1. Introduction; 1.1 General introduction; 1.2 Synchronization; 1.3 Synchronization in robotic systems; 1.3.1 Velocity and acceleration measurements; 1.3.2 Joint flexibility; 1.3.3 Friction phenomena; 1.4 Problem formulation; 1.4.1 External synchronization of rigid joint robots; 1.4.2 External synchronization of flexible joint robots; 1.4.3 Mutual (internal) synchronization of rigid joint robots; 1.5 Scope of the book; 1.6 Outline of the book; 2. Preliminaries; 2.1 Mathematical preliminaries and stability concepts; 2.1.1 Basic definitions; 2.1.2 Lyapunov stability. 2.1.3 Stability of perturbed systems2.2 Dynamic models of robot manipulators; 2.2.1 Rigid joint robots; 2.2.2 Flexible joint robots; 2.2.3 Properties of the dynamic model of the robots; 2.2.4 Friction phenomena; 2.3 Experimental setup; 3. External synchronization of rigid joint robots; 3.1 Introduction; 3.2 Synchronization controller based on state feedback; 3.3 Synchronization controller based on estimated variables; 3.3.1 Feedback control law; 3.3.2 An observer for the synchronization errors; 3.3.3 An observer for the slave joint variables; 3.3.4 Synchronization closed loop error dynamics. 3.3.5 Stability analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors. 4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics. 5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system. |
| ctrlnum | (OCoLC)262846185 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Electronic eBook |
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Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics.</subfield></datafield><datafield tag="505" ind1="8" ind2=" "><subfield code="a">5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system.</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. 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| id | ZDB-4-EBA-ocn262846185 |
| illustrated | Illustrated |
| indexdate | 2024-11-27T13:16:33Z |
| institution | BVB |
| isbn | 9789812794970 9812794972 |
| language | English |
| oclc_num | 262846185 |
| open_access_boolean | |
| owner | MAIN DE-863 DE-BY-FWS |
| owner_facet | MAIN DE-863 DE-BY-FWS |
| physical | 1 online resource (xii, 205 pages) : illustrations |
| psigel | ZDB-4-EBA |
| publishDate | 2003 |
| publishDateSearch | 2003 |
| publishDateSort | 2003 |
| publisher | World Scientific, |
| record_format | marc |
| series | World Scientific series on nonlinear science. Monographs and treatises ; |
| series2 | World Scientific series on nonlinear science. Series A ; |
| spelling | Nijmeijer, H. (Hendrik), 1955- https://id.oclc.org/worldcat/entity/E39PCjDftqvyQxfBhjvypjHW8P http://id.loc.gov/authorities/names/n88298367 Synchronization of mechanical systems / Henk Nijmeijer, Alejandro Rodriguez-Angeles. Singapore ; River Edge, NJ : World Scientific, ©2003. 1 online resource (xii, 205 pages) : illustrations text txt rdacontent computer c rdamedia online resource cr rdacarrier World Scientific series on nonlinear science. Series A ; vol. 46 Includes bibliographical references (pages 197-202) and index. Print version record. Preface; Contents; 1. Introduction; 1.1 General introduction; 1.2 Synchronization; 1.3 Synchronization in robotic systems; 1.3.1 Velocity and acceleration measurements; 1.3.2 Joint flexibility; 1.3.3 Friction phenomena; 1.4 Problem formulation; 1.4.1 External synchronization of rigid joint robots; 1.4.2 External synchronization of flexible joint robots; 1.4.3 Mutual (internal) synchronization of rigid joint robots; 1.5 Scope of the book; 1.6 Outline of the book; 2. Preliminaries; 2.1 Mathematical preliminaries and stability concepts; 2.1.1 Basic definitions; 2.1.2 Lyapunov stability. 2.1.3 Stability of perturbed systems2.2 Dynamic models of robot manipulators; 2.2.1 Rigid joint robots; 2.2.2 Flexible joint robots; 2.2.3 Properties of the dynamic model of the robots; 2.2.4 Friction phenomena; 2.3 Experimental setup; 3. External synchronization of rigid joint robots; 3.1 Introduction; 3.2 Synchronization controller based on state feedback; 3.3 Synchronization controller based on estimated variables; 3.3.1 Feedback control law; 3.3.2 An observer for the synchronization errors; 3.3.3 An observer for the slave joint variables; 3.3.4 Synchronization closed loop error dynamics. 3.3.5 Stability analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors. 4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics. 5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system. The main goal of this book is to prove analytically and validate experimentally that synchronization in multi-composed mechanical systems can be achieved in the case of partial knowledge of the state vector of the systems, i.e. when only positions are measured. For this purpose, synchronization schemes based on interconnections between the systems, feedback controllers and observers are proposed. Because mechanical systems include a large variety of systems, and since it is impossible to address all of them, the book focuses on robot manipulators. Nonetheless the ideas developed here can be ex. Robots Control systems. http://id.loc.gov/authorities/subjects/sh89001406 Synchronization. http://id.loc.gov/authorities/subjects/sh85131609 Robots Systèmes de commande. Synchronisation. TECHNOLOGY & ENGINEERING Robotics. bisacsh Robots Control systems fast Synchronization fast Rodriguez-Angeles, Alejandro. https://id.oclc.org/worldcat/entity/E39PCjtYcH8bD967cbGg9c4FVd http://id.loc.gov/authorities/names/no2004035449 Print version: Nijmeijer, H. (Hendrik), 1955- Synchronization of mechanical systems. Singapore ; River Edge, NJ : World Scientific, ©2003 981238605X 9789812386052 (OCoLC)54448296 World Scientific series on nonlinear science. Series A, Monographs and treatises ; v. 46. http://id.loc.gov/authorities/names/no94008495 FWS01 ZDB-4-EBA FWS_PDA_EBA https://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&AN=235604 Volltext |
| spellingShingle | Nijmeijer, H. (Hendrik), 1955- Synchronization of mechanical systems / World Scientific series on nonlinear science. Monographs and treatises ; Preface; Contents; 1. Introduction; 1.1 General introduction; 1.2 Synchronization; 1.3 Synchronization in robotic systems; 1.3.1 Velocity and acceleration measurements; 1.3.2 Joint flexibility; 1.3.3 Friction phenomena; 1.4 Problem formulation; 1.4.1 External synchronization of rigid joint robots; 1.4.2 External synchronization of flexible joint robots; 1.4.3 Mutual (internal) synchronization of rigid joint robots; 1.5 Scope of the book; 1.6 Outline of the book; 2. Preliminaries; 2.1 Mathematical preliminaries and stability concepts; 2.1.1 Basic definitions; 2.1.2 Lyapunov stability. 2.1.3 Stability of perturbed systems2.2 Dynamic models of robot manipulators; 2.2.1 Rigid joint robots; 2.2.2 Flexible joint robots; 2.2.3 Properties of the dynamic model of the robots; 2.2.4 Friction phenomena; 2.3 Experimental setup; 3. External synchronization of rigid joint robots; 3.1 Introduction; 3.2 Synchronization controller based on state feedback; 3.3 Synchronization controller based on estimated variables; 3.3.1 Feedback control law; 3.3.2 An observer for the synchronization errors; 3.3.3 An observer for the slave joint variables; 3.3.4 Synchronization closed loop error dynamics. 3.3.5 Stability analysis3.4 Gain tuning procedure; 3.5 Friction compensation; 3.6 Simulation and experimental study; 3.6.1 Simulation and experimental results; 3.6.2 Comparative results for different controllers; 3.6.3 Sensitivity to desired trajectories; 3.6.4 Disturbance rejection; 3.7 Concluding remarks and discussion; 4. External synchronization of flexible joint robots; 4.1 Introduction; 4.2 Synchronization controller based on state feedback; 4.3 Synchronization controller based on estimated variables; 4.3.1 An observer for the synchronization errors. 4.3.2 An observer for the slave variables4.3.3 Synchronization closed loop error dynamics; 4.3.4 Stability analysis; 4.4 Gain tuning procedure; 4.5 Simulation study; 4.6 Concluding remarks and discussion; 5. Mutual synchronization of rigid joint robots; 5.1 Introduction; 5.2 Synchronization controller based on state feedback; 5.2.1 Synchronization closed loop error dynamics; 5.2.2 Stability analysis; 5.2.3 Algebraic loop; 5.3 Synchronization controller based on estimated variables; 5.3.1 An observer for the joint variables; 5.3.2 Synchronization closed loop error dynamics. 5.3.3 Stability analysis5.4 Gain tuning procedure; 5.5 Friction compensation; 5.6 Simulation and experimental study; 5.6.1 Simulation and experimental results; 5.6.2 Comparison between synchronization and tracking controllers; 5.6.3 Sensitivity to desired trajectory; 5.6.4 Disturbance rejection; 5.7 Concluding remarks and discussion; 6. An experimental case study; 6.1 Introduction; 6.2 The CFT transposer robot; 6.2.1 Joint space dynamics; 6.3 External synchronization of a complex multi-robot system; 6.3.1 Performance evaluation; 6.4 Mutual synchronization of a complex multi-robot system. Robots Control systems. http://id.loc.gov/authorities/subjects/sh89001406 Synchronization. http://id.loc.gov/authorities/subjects/sh85131609 Robots Systèmes de commande. Synchronisation. TECHNOLOGY & ENGINEERING Robotics. bisacsh Robots Control systems fast Synchronization fast |
| subject_GND | http://id.loc.gov/authorities/subjects/sh89001406 http://id.loc.gov/authorities/subjects/sh85131609 |
| title | Synchronization of mechanical systems / |
| title_auth | Synchronization of mechanical systems / |
| title_exact_search | Synchronization of mechanical systems / |
| title_full | Synchronization of mechanical systems / Henk Nijmeijer, Alejandro Rodriguez-Angeles. |
| title_fullStr | Synchronization of mechanical systems / Henk Nijmeijer, Alejandro Rodriguez-Angeles. |
| title_full_unstemmed | Synchronization of mechanical systems / Henk Nijmeijer, Alejandro Rodriguez-Angeles. |
| title_short | Synchronization of mechanical systems / |
| title_sort | synchronization of mechanical systems |
| topic | Robots Control systems. http://id.loc.gov/authorities/subjects/sh89001406 Synchronization. http://id.loc.gov/authorities/subjects/sh85131609 Robots Systèmes de commande. Synchronisation. TECHNOLOGY & ENGINEERING Robotics. bisacsh Robots Control systems fast Synchronization fast |
| topic_facet | Robots Control systems. Synchronization. Robots Systèmes de commande. Synchronisation. TECHNOLOGY & ENGINEERING Robotics. Robots Control systems Synchronization |
| url | https://search.ebscohost.com/login.aspx?direct=true&scope=site&db=nlebk&AN=235604 |
| work_keys_str_mv | AT nijmeijerh synchronizationofmechanicalsystems AT rodriguezangelesalejandro synchronizationofmechanicalsystems |