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 |  موضوع: كتاب Multi-Arm Cooperating Robots- Dynamics and Control الأحد 09 ديسمبر 2012, 8:49 pm | |
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أخوانى فى الله
أحضرت لكم كتاب
Multi-Arm Cooperating Robots- Dynamics and Control
Zivanovic and Vukobratovic
ويتناول الموضوعات الأتية :
INTRODUCTION TO COOPERATIVE MANIPULATION
Cooperative Systems – Manipulation Systems
Contact in the Cooperative Manipulation
The Nature of Contact
Introducing Coordinate Frames
General Convention on Symbols and Quantity Designations
Relation to Contact Tasks Involving One Manipulator
PROBLEMS IN COOPERATIVEWORK
Kinematic Uncertainty
Kinematic uncertainty due to manipulator redundancy
Kinematic uncertainty due to contact characteristics
Force Uncertainty
Summary of Uncertainty Problems in Cooperative Work
The Problem of Control
INTRODUCTION TO MATHEMATICAL MODELING OF
COOPERATIVE SYSTEMS
Some Known Solutions to Cooperative Manipulation Models
A Method to Model Cooperative Manipulation
Illustration of the Correct Modeling Procedure
vi Table of Contents
Simulation of the Motion of a Linear Cooperative System
Summary of the Problem of Mathematical Modeling
MATHEMATICAL MODELS OF COOPERATIVE SYSTEMS
Introductory Remarks
Setting Up the Problem of Mathematical Modeling of a Complex
Cooperative System
Theoretical Bases of the Modeling of an Elastic System
Elastic System Deformations as a Function of Absolute Coordinates
Model of Elastic System Dynamics for the Immobile Unloaded State
Model of Elastic System Dynamics for a Mobile Unloaded State
Properties of the Potential Energy and Elasticity Force of the
Elastic System
Properties of potential energy and elasticity force of the elastic
system in the loaded state translation
Properties of potential energy and elasticity force of the elastic
system during its rotation in the loaded state
Model of Manipulator Dynamics
Kinematic Relations
Model of Cooperative System Dynamics for the Immobile
Unloaded State
Model of Cooperative System Dynamics for the Mobile
Unloaded State
Forms of the Motion Equations of Cooperative System
Stationary and Equilibrium States of the Cooperative System
Example
SYNTHESIS OF NOMINALS
Introduction – Problem Definition
Elastic System Nominals
Nominal gripping of the elastic system
Nominal motion of the elastic system
Nominal Driving Torques
Algorithms to Calculate the Nominal Motion in Cooperative
Manipulation
Algorithm to calculate the nominal motion in gripping for
the conditions given for the manipulated object MC
Table of Contents vii
Algorithm to calculate the nominal motion in gripping for
the conditions of a selected contact point
Algorithm to calculate the nominal general motion for
the conditions given for the manipulated object MC
Algorithm to calculate the nominal general motion for
the conditions given for one contact point
Example of the algorithm for determining the nominal motion
COOPERATIVE SYSTEM CONTROL
Introduction to the Problem of Cooperative System Control
Classification of Control Tasks
Basic assumptions
Classification of the tasks
Choice of Control Tasks in Cooperative Manipulation
Control Laws
Mathematical model
Illustration of the application of the input calculation method
Control laws for tracking the nominal trajectory of the
manipulated object MC and nominal trajectories of contact
points of the followers
Behavior of the non-controlled quantities in tracking the
manipulated object MC and nominal trajectories of contact
points of the followers
Control laws to track the nominal trajectory of the manipulated
object MC and nominal contact forces of the followers
Behavior of the non-controlled quantities in tracking the
trajectory of the manipulated object MC and nominal contact
forces of the followers
Examples of Selected Control Laws
CONCLUSION: LOOKING BACK ON THE PRESENTED
RESULTS
An Overview of the Introductory Considerations
On Mathematical Modeling
Cooperative System Nominals
Cooperative System Control Laws
viii Table of Contents
General Conclusions about the Study of Cooperative Manipulation
Possible Directions of Further Research
APPENDIX A: ELASTIC SYSTEM MODEL FOR THE IMMOBILE
UNLOADED STATE
APPENDIX B: ELASTIC SYSTEM MODEL FOR THE MOBILE
UNLOADED STATE
REFERENCES
INDEX
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