By M.D. Zivanovic,M. Vukobratovic
Several constant ideas for cooperative method keep watch over have lately been pointed out by way of the authors of the present monograph. This was once completed via fixing 3 separate projects which are crucial for fixing the matter of cooperative manipulation as a complete. the 1st job is said to the knowledge of the actual nature of cooperative manipulation and discovering a manner for a sufficiently detailed characterization of cooperative method statics, kinematics and dynamics. After effectively finishing this job, within the body of the second one job, the matter of coordinated movement of the cooperative approach is solved. ultimately, as an answer to the 3rd activity, the keep an eye on legislation of cooperative manipulation are synthesized.
The place to begin in facing the above 3 initiatives of cooperative manipulation used to be the idea that the matter of strength uncertainty in cooperative manipulation may be resolved by way of introducing elastic homes into the cooperative process, at the least within the half the place strength uncertainty appears to be like. In static and dynamic research of the elastic constitution of cooperative platforms the finite aspect strategy is utilized. unlike the process utilized in the most important a part of the to be had literature the place deformation paintings is expressed by means of deviations from the unloaded kingdom of fastened elastic constitution, during this monograph the deformation paintings is expressed by means of inner forces as a functionality of absolutely the coordinates of contacts of cellular elastic constitution. Coordinated movement and regulate in cooperative manipulation are solved because the challenge of coordinated movement and keep watch over of a cellular elastic constitution, bearing in mind the categorical gains of cooperative manipulation. Coordinated movement and keep watch over legislation in cooperative manipulation are synthesized at the foundation of a non-linear version the place the matter of uncertainty is solved, which isn't the case within the on hand literature. uncomplicated examples display the constant process of mathematical modeling and synthesis of nominal coordinated movement, in addition to keep an eye on of the cooperative process.
This publication should be worthy to a large viewers of engineers, starting from undergraduate and graduate scholars, new and complex educational researchers, to practitioners (mechanical and electric engineers, laptop and method scientists). it truly is meant for readers whose paintings includes production, business, robotics, automation, machine and keep an eye on engineering, and who desire to learn about this significant new know-how and its power benefits for keep watch over engineering applications.
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Multi-Arm Cooperating Robots: Dynamics and Control: 30 (Intelligent Systems, Control and Automation: Science and Engineering) by M.D. Zivanovic,M. Vukobratovic