UID:
almahu_9949225682502882
Format:
1 online resource (432 p.)
ISBN:
0-323-16288-6
,
1-299-19337-4
Series Statement:
Control and dynamic systems : advances in theory and applications ; v. 40
Content:
Control and Dynamic Systems V40: Advances in Robotic Systems Part 2 of 2
Note:
Description based upon print version of record.
,
Front Cover; Advances in Robotic Systems, Part 2; Copyright Page; Table of Contents; CONTRIBUTORS; PREFACE; CHAPTER 1. KINESTHETIC FEEDBACK TECHNIQUES IN TELEOPERATED SYSTEMS; I. INTRODUCTION: OVERVIEW OF TELEOPERATION; II. NETWORK APPROACHES TO BILATERAL CONTROL; III. CONCLUSIONS; References; Chapter 2. Parallel Algorithms and Fault-Tolerant Reconfigurable Architecture for Robot Kinematics and Dynamics Computations; ABSTRACT; 1. Introduction; 2. Characteristics of Basic Robotic Parallel Algorithms; 3. Design of Reconfigurable DN-SIMD Machine
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4. Design of Reconfigurable Interconnection Network5. Fault Tolerant Generalized Cube Network for DN-SIMD Machine; 6. Mapping of Parallel Robotic Algorithms onto the Dual-Network SIMD Machine; 7. Inverse Dynamics Computation on DN-SIMD Machine; 8. Conclusions; 9. References; Chapter 3. Trajectory Planning for Robot Control: A Control Systems Perspective; 1 Introduction; 2 Trajectory Planning and Feedback Control; 3 Path and Trajectory Planners Embedded in the Feedback Control Loop; 4 Real-Time Planners: Implementations and Issues
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5 Design of Decentralized Tracking Controllers With Constrained Control6 The Central Processor:Planning, Prediction and Modification; 7 Some Examples of Planning Strategies; 8 Future Directions and Open Problems; References; CHAPTER 4. SIMPLIFIED TECHNIQUES FOR ADAPTIVE CONTROL OF ROBOTIC SYSTEMS; I. INTRODUCTION; II. ALMOST PASSIVITY; III. THE ""ALMOST PASSIVITY"" LEMMAS; IV. THE MODEL FOLLOWING PROBLEM FOR NONLINEAR ASP SYSTEMS; V. ADAPTIVE CONTROL OF MANIPULATORS; VI. CONCLUSIONS; APPENDIX A. PROOF OF LEMMA 2; APPENDIX B. THE PROOF OF STABILITY OF THE ADAPTIVE CONTROL ALGORITHM (41)-(46)
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APPENDIX C. ADAPTIVE CONTROL OF STRICTLY CAUSAL ALMOST PASSIVE SYSTEMSAPPENDIX D. THE ROLE OF THE STABILIZING GAIN K0; ACKNOWLEDGMENT; REFERENCES; CHAPTER 5. THEORY AND APPLICATIONS OF CONFIGURATION CONTROL FOR REDUNDANT MANIPULATORS; ABSTRACT; 1. INTRODUCTION; 2. DEVELOPMENT OF CONFIGURATION CONTROL SCHEME; 3. APPLICATIONS OF CONFIGURATION CONTROL SCHEME; 4. CONCLUSIONS; 5. ACKNOWLEDGEMENTS; 6. REFERENCES; CHAPTER 6. NONLINEAR FEEDBACK FOR FORCE CONTROL OF ROBOT MANIPULATORS; I. INTRODUCTION; II. The Dynamic Model of a Constrained Manipulator
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III. Nonlinear Feedback for Force Control of a Constrained ManipulatorIV. Control Equations of Two Cooperating Robot Manipulators; V. Nonlinear Feedback for Coordinated Control of Two Manipulators; VI. Conclusions; VII. Appendices; References; CHAPTER 7. SYSTOLIC ARCHITECTURES FOR DYNAMIC CONTROL OF MANIPULATORS; I. Introduction; II. O(N) Parallel Algorithm for the Inertia Matrix; III. VLSI-Based Robotics Processor; IV. Implementation of the Inertia Matrix with the Robotics Processor; V. Summary and Conclusions; Acknowledgments; REFERENCES
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CHAPTER 8. TECHNIQUES FOR PARALLEL COMPUTATION OF MECHANICAL MANIPULATOR DYNAMICS PART I: INVERSE DYNAMICS
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English
Additional Edition:
ISBN 0-12-012740-7
Language:
English
