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| موضوع: كتاب Multi-Arm Cooperating Robots - Dynamics and Control الأحد 23 مايو 2021, 2:00 am | |
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أخوانى فى الله أحضرت لكم كتاب Multi-Arm Cooperating Robots - Dynamics and Control edited by M.D. ZIVANOVIC and M.K. VUKOBRATOVIC Robotics Center, Mihajlo Pupin Institute, Belgrade, Serbia and Montenegro Robotics Center, Mihajlo Pupin Institute, Belgrade, Serbia and Montenegro
و المحتوى كما يلي :
TABLE OF CONTENTS LIST OF FIGURES ix PREFACE xi 1. INTRODUCTION TO COOPERATIVE MANIPULATION 1 1.1 Cooperative Systems – Manipulation Systems 1 1.2 Contact in the Cooperative Manipulation 4 1.3 The Nature of Contact 4 1.4 Introducing Coordinate Frames 7 1.5 General Convention on Symbols and Quantity Designations 16 1.6 Relation to Contact Tasks Involving One Manipulator 18 2. PROBLEMS IN COOPERATIVE WORK 19 2.1 Kinematic Uncertainty 19 2.1.1 Kinematic uncertainty due to manipulator redundancy 19 2.1.2 Kinematic uncertainty due to contact characteristics 21 2.2 Force Uncertainty 22 2.3 Summary of Uncertainty Problems in Cooperative Work 24 2.4 The Problem of Control 25 3. INTRODUCTION TO MATHEMATICAL MODELING OF COOPERATIVE SYSTEMS 27 3.1 Some Known Solutions to Cooperative Manipulation Models 28 3.2 A Method to Model Cooperative Manipulation 30 3.3 Illustration of the Correct Modeling Procedure 37 vvi Table of Contents 3.4 Simulation of the Motion of a Linear Cooperative System 51 3.5 Summary of the Problem of Mathematical Modeling 54 4. MATHEMATICAL MODELS OF COOPERATIVE SYSTEMS 57 4.1 Introductory Remarks 57 4.2 Setting Up the Problem of Mathematical Modeling of a Complex Cooperative System 65 4.3 Theoretical Bases of the Modeling of an Elastic System 66 4.4 Elastic System Deformations as a Function of Absolute Coordinates 74 4.5 Model of Elastic System Dynamics for the Immobile Unloaded State 82 4.6 Model of Elastic System Dynamics for a Mobile Unloaded State 86 4.7 Properties of the Potential Energy and Elasticity Force of the Elastic System 89 4.7.1 Properties of potential energy and elasticity force of the elastic system in the loaded state translation 91 4.7.2 Properties of potential energy and elasticity force of the elastic system during its rotation in the loaded state 94 4.8 Model of Manipulator Dynamics 100 4.9 Kinematic Relations 101 4.10 Model of Cooperative System Dynamics for the Immobile Unloaded State 102 4.11 Model of Cooperative System Dynamics for the Mobile Unloaded State 104 4.12 Forms of the Motion Equations of Cooperative System 106 4.13 Stationary and Equilibrium States of the Cooperative System 118 4.14 Example 123 5. SYNTHESIS OF NOMINALS 137 5.1 Introduction – Problem Definition 138 5.2 Elastic System Nominals 142 5.2.1 Nominal gripping of the elastic system 142 5.2.2 Nominal motion of the elastic system 153 5.3 Nominal Driving Torques 165 5.4 Algorithms to Calculate the Nominal Motion in Cooperative Manipulation 166 5.4.1 Algorithm to calculate the nominal motion in gripping for the conditions given for the manipulated object MC 167Table of Contents vii 5.4.2 Algorithm to calculate the nominal motion in gripping for the conditions of a selected contact point 168 5.4.3 Algorithm to calculate the nominal general motion for the conditions given for the manipulated object MC 171 5.4.4 Algorithm to calculate the nominal general motion for the conditions given for one contact point 173 5.4.5 Example of the algorithm for determining the nominal motion 176 6. COOPERATIVE SYSTEM CONTROL 189 6.1 Introduction to the Problem of Cooperative System Control 189 6.2 Classification of Control Tasks 191 6.2.1 Basic assumptions 191 6.2.2 Classification of the tasks 202 6.3 Choice of Control Tasks in Cooperative Manipulation 207 6.4 Control Laws 212 6.4.1 Mathematical model 212 6.4.2 Illustration of the application of the input calculation method 213 6.4.3 Control laws for tracking the nominal trajectory of the manipulated object MC and nominal trajectories of contact points of the followers 216 6.4.4 Behavior of the non-controlled quantities in tracking the manipulated object MC and nominal trajectories of contact points of the followers 223 6.4.5 Control laws to track the nominal trajectory of the manipulated object MC and nominal contact forces of the followers 229 6.4.6 Behavior of the non-controlled quantities in tracking the trajectory of the manipulated object MC and nominal contact forces of the followers 234 6.5 Examples of Selected Control Laws 236 7. CONCLUSION: LOOKING BACK ON THE PRESENTED RESULTS 251 7.1 An Overview of the Introductory Considerations 251 7.2 On Mathematical Modeling 252 7.3 Cooperative System Nominals 254 7.4 Cooperative System Control Laws 256viii Table of Contents 7.5 General Conclusions about the Study of Cooperative Manipulation 257 7.6 Possible Directions of Further Research 258 APPENDIX A: ELASTIC SYSTEM MODEL FOR THE IMMOBILE UNLOADED STATE 261 APPENDIX B: ELASTIC SYSTEM MODEL FOR THE MOBILE UNLOADED STATE 269 REFERENCES 277 INDEX 283LIST OF FIGURES 1 Cooperative manipulation system 3 2 Contact 6 3 Cooperative work of the fingers on an immobile object 8 4 Kinematic uncertainty due to contact 22 5 Cooperative work of two manipulators on the object 23 6 Reducing the cooperative system to a grid 31 7 Approximation of the cooperative system by a grid 32 8 Linear elastic system 37 9 Approximating a linear elastic system 44 10 Block diagram of the model of a cooperative system without force uncertainty 51 11 Results of simulation of a ‘linear’ elastic system 54 12 Elastic system 63 13 Displacements of the elastic system nodes – the notation system 66 14 Angular displacements of the elastic system 76 15 Displacements of the elastic system 78 16 Planar deformation of the elastic system 83 17 Rotation of the loaded elastic system 95 18 Block diagram of the cooperative system model 106 19 Elastic system of two springs 113 20 Initial position of the cooperative system 123 21a Simulation results for τ j i = 0, i, j = 1, 2, 3 127 21b Simulation results for τ j i = 0, i, j = 1, 2, 3 128 22a Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 129 22b Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 130 22c Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 131 22d Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 132 22e Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 133 ixx List of Figures 22f Simulation results for τ 1 1 = 50 [Nm] and τ21 = −50 [Nm] 134 22g Simulation results for τ11 = 50 [Nm] and τ21 = −50 [Nm] 135 23 Nominal trajectory of the object MC 143 24 Elastic deviations from the nominal trajectory 146 25 Nominal trajectory of a contact point 163 26 ‘Linear’ cooperative system 177 27 Nominals for gripping a manipulated object 181 28 Nominal input to a closed-loop cooperative system for gripping 182 29 Simulation results for gripping (open-loop cooperative system) 183 30 Nominals for manipulated object general motion 184 31 Nominal input to a closed-loop cooperative system for general motion 185 32 Simulation results for motion (open-loop cooperative system) 186 33 Mapping from the domain of inputs to the domain of states 194 34 Mapping from the domain of states to the domain of inputs 195 35 Mapping from the domain of inputs to the domain of outputs 195 36 Mapping from the domain of outputs to the domain of inputs 196 37 Mapping through the domain of states 196 38 Mapping of the control system domain 197 39 Structure of the control system 200 40 Mapping of the control object domain 201 41 Mapping of the cooperative manipulation domain 205 42 Global structure of the closed loop system 215 43 Motion in the plane of the loaded elastic system 224 44 Block diagram of the closed-loop cooperative system 240 45a Gripping – tracking Y20 and Y30 241 45b Gripping – tracking Y20 and Y30 242 46a Gripping – tracking Y20 and Fc02 243 46b Gripping – tracking Y20 and Fc02 244 47a General motion – tracking Y20 and Y30 245 47b General motion – tracking Y20 and Y30 246 48a General motion – tracking Y20 and Fc02 247 48b General motion – tracking Y20 and Fc02 INDEX absolute coordinate, 63, 64, 71, 73, 74 actuator, 34, 61, 210, 257, 258 angular displacement, 74 approach planning, 2 approach to the object, 2 calculate nominal motion, 166 general motion contact point, 173 manipulated object MC, 171 gripping contact point, 168 manipulated object MC, 167 Castigliano principle, 33, 47 closed loop, 215, 240 configuration of contact points, 78 constraint, 5, 65, 140, 151, 160, 228, 261 contact, 4 constraint, 7, 13 elastic, 5 environment, 7 internal load, 5 nature, 4 participant, 4 rigid, 5, 30 sliding, 5 rotational, 5 translational, 5 space, 13 stiff, 5, 30 rotational, 5 translational, 5 surface, 5 transferred load, 4 understood, 4 contact force, 17, 24, 28, 39, 41, 85 control laws, 25, 118, 189–191, 199, 202, 212, 216, 229, 256 controllability, 192, 256 cooperative manipulation, 1, 4, 7, 12, 19, 25, 28, 35, 50, 58, 72, 99, 106, 140, 154, 189, 190, 202, 207, 236, 251, 252, 254, 256, 257 cooperative system, 1 approximation, 31 at rest, 31 contact space, 15 control, 189 control problem, 26 coordinated motion, 154, 254 elastic part, 58, 252 equilibrium state, 118, 120 forms of the motion equations, 106 nominal, 254 rigid part, 58, 252 state space, 15 state vector, 16 stationary state, 118 trajectory, 137 uncontrolled, 118 unloaded state immobile, 102 mobile, 104 coordinate frame, 7 absolute, 10 external, 9 internal, 10 natural, 10 criterion, 28 damping force, 65 deformation work, 32, 35, 73, 107, 253, 261, 270 directly tracked, 142, 189, 211, 214, 216, 229, 256 displacement, 41 displacement method, 69 dissipation energy, 49, 84, 88, 265, 272 283input, 256 output, 256 state, 256 elastic displacement, 73 elastic environment, 65 elastic force, 35, 39, 47, 55, 83, 98, 141, 142, 208, 261 elastic interconnections, 7, 37, 41, 59, 62, 65, 74, 139, 252 elastic structure, 7 elastic system, 7 DOFs, 62 deformation energy, 45, 46 deformation work, 71 deformations, 74 dissipation energy, 49, 84, 88, 265, 272 elastic forces properties, 89 internal forces, 45 kinetic energy, 43, 84, 86, 263, 269 kinetic potential, 48 loaded, 77 rotation, 94 translation, 91 node forces, 71 nominals, 142 potential energy, 45, 46, 83, 87, 90, 92, 261, 270 properties, 89 rate of displacement, 77 relative displacements, 44, 76, 77 space, 11 state 0, 74, 265, 274 state vector, 16 unloaded state immobile, 75, 82, 265 mobile, 75, 86, 274 elasticity force, 65 equilibrium, 30 exchange of the leader’s, 254 external force, 32, 41, 85 external load, 62 feedback loop, 256 feedback loops, 118, 142, 190 finite-element method, 67 follower, 29, 112, 114 followers’ acceleration, 152, 160 force uncertainty, 22, 24, 30, 31, 251 general motion, 63–65, 89 generalized forces, 47, 85, 88 generalized stiffnesses, 45 geometric configuration, 34, 254 global coordinate, 68 grasping, 2 gravitation force, 65 grid, 34, 61, 251 displacements, 34 position, 34 statically undetermined, 31, 251 gripper, 31 gripping, 2 gripping phase, 142, 254 holonomic constraints, 156 individual stiffness, 68 influence numbers, 33 internal force, 24, 28, 41 internal forces, 73 kinematic chain, 7 kinematic instability, 41 kinematic relations, 101 kinematic uncertainty, 19, 24, 251 due to contact, 21 due to manipulator redundancy, 19 kinematically indeterminate, 69 kinematically mobile, 39 kinematically stable, 41 kinematically unstable, 39 kinetic energy, 32, 43, 84, 86, 263, 269 Lagrange equations, 49, 82, 252 leader, 29, 40, 112, 114 leader’s acceleration, 152, 160, 161 leadership principle, 40 lifting, 3 local coordinate, 68 lowering, 4 manipulated object immobile in space, 110 immobile on the support, 109 in space, 109 mobile in space, 110 mobile on the support, 110 284 Multi-Arm Cooperating Robots domainon the support, 109 manipulation systems, 1 manipulator tip, 31, 255 mapping, 256 mapping domain, 194, 197 cooperative manipulation, 205 input, 194 output, 194 state, 194 mapping one-to-one, 198 Maxwell’s coefficient, 33, 107 method of deformation work, 32 method of direct stiffness, 68 modes of rigid body, 39, 253 motion equations, 109, 156 natural output space, 194, 256 node, 7, 34, 62, 73 external, 61, 255 internal, 61 nominal, 137, 254 synthesis, 137 nominal gripping, 142 preset y0s , 144 conditions, 145 preset yv = y1, 146 conditions, 149 nominal input, 137 nominal motion, 137, 153 brief procedure, 154 driving torques, 165 initial state, 153 nominal trajectory manipulated object MC, 155 one contact point, 161 superscript ‘0s’, 154 ‘s’, 154 ‘u’, 154 nominal trajectory, 137 non-holonomic constraint, 151, 153 non-holonomic constraints, 156 observability, 192, 256 output controlled, 189, 211, 256 directly tracked, 189, 211, 216 natural space, 256 nominal, 220, 231, 257 non-controlled, 190, 211, 216, 257 potential energy, 32, 45, 46, 83, 87, 90, 92, 261, 270 principle of minimal, 32 quantity designations, 16 quasi-static, 255 realizable, 255 trajectories, 255 realizable nominals, 137 relative displacements, 73 angular, 76 releasing, 2, 4 resultant force, 24 rigid body, 7, 65, 253 rigid manipulator, 65 rigid structure, 7 servoactuator, 258 singularity, 41 six DOFs, 65 slave manipulator, 28 state 0, 12, 82 immobile, 70 unloaded, 70 statically indeterminate, 69 statically transferred, 255 stiffness matrix, 41 stiffness matrix, 39, 253 assembled, 70, 72 disassembled, 68 generalized, 72 structure damping matrix, 116 stiffness matrix, 115, 117 vector displacement, 117 force, 117 structure envelope, 7 structures of the matrices, 114 submatrices, 115 subscript, 8, 39, 114, 270 ’0’, 8 ’c’, 39 ’e’, 39 ’i’, 270 ’ia’, 270 Index 285‘0’, 114 ‘c’, 114 ‘d’, 114 ‘e’, 114 ‘s’, 114 ‘v’, 114 symbol convention, 16 task space, 10 transferred positions, 255 transferring, 3 unload, 34 unloaded state, 62, 253 unperturbed motion, 137 unperturbed trajectory, 137 unpowered joints, 7 weighting matrix, 28 withdrawing, 2, 4 ] كلمة سر فك الضغط : books-world.net The Unzip Password : books-world.net أتمنى أن تستفيدوا من محتوى الموضوع وأن ينال إعجابكم رابط من موقع عالم الكتب لتنزيل كتاب Multi-Arm Cooperating Robots - Dynamics and Control رابط مباشر لتنزيل كتاب Multi-Arm Cooperating Robots - Dynamics and Control
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