Flexible Robot Dynamics and Controls

This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de­ cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls...

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Bibliographic Details
Main Authors: Robinett III, Rush D., Feddema, John (Author), Eisler, G. Richard (Author), Dohrmann, Clark (Author)
Format: eBook
Language:English
Published: New York, NY Springer US 2002, 2002
Edition:1st ed. 2002
Series:IFSR International Series in Systems Science and Systems Engineering
Subjects:
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
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100 1 |a Robinett III, Rush D. 
245 0 0 |a Flexible Robot Dynamics and Controls  |h Elektronische Ressource  |c by Rush D. Robinett III, John Feddema, G. Richard Eisler, Clark Dohrmann, Gordon G. Parker, David G. Wilson, Dennis Stokes 
250 |a 1st ed. 2002 
260 |a New York, NY  |b Springer US  |c 2002, 2002 
300 |a XIX, 339 p  |b online resource 
505 0 |a 1 Introduction -- 1.1. Sandia National Laboratories -- 1.2. Flexible Robotics Research Historical Background -- 1.3. Outline of the Book -- 1.4. Chapter 1 Summary -- 1.5. Chapter 1 References -- 1.6. Chapter 1 Problems -- 2 Mathematical Preliminaries -- 2.1. Introduction -- 2.2. Linear Algebra -- 2.3. Linear Control Systems -- 2.4. Digital Systems -- 2.5. Calculus of Variations -- 2.6. Hamilton’s Principle & Lagrange’s Equations -- 2.7. Analytical Optimization -- 2.8. Numerical Optimization -- 2.9. Chapter 2 Summary -- 2.10. Chapter 2 References -- 2.11. Chapter 2 Problems -- 3 Flexible Robot Dynamic Modeling -- 3.1. Introduction -- 3.2. Flexible Link Modeling Preliminaries -- 3.3. The Method of Quadratic Modes -- 3.4. Planar Flexible Robot Dynamics -- 3.5. Actuator Dynamics -- 3.6. Chapter 3 Summary -- 3.7. Chapter 3 References -- 3.8. Chapter 3 Problems -- 4 System Identification -- 4.1. Introduction -- 4.2. Linear Least Squares (LSS) -- 4.3. Nonlinear Least Squares --  
505 0 |a 4.4. Homotopy Methods -- 4.5. Robot and Actuator System ID -- 4.6. Chapter 4 Summary -- 4.7. Chapter 4 References -- 4.8. Chapter 4 Problems -- 5 Input Shaping for Path Planning -- 5.1. Introduction -- 5.2. Analytic Solutions for Input Shaping -- 5.3. Input Shaping Filters -- 5.4. Constrained Optimization with RQP -- 5.5. Dynamic Programming -- 5.6. Chapter 5 Summary -- 5.7. Chapter 5 References -- 5.8. Chapter 5 Problems -- 6 Linear Feedback Control -- 6.1. Introduction -- 6.2. PD Control of a Gantry Robot -- 6.3. Lag-Stabilized Feedback Control -- 6.4. Non-collocated Controls -- 6.5. Feedforward Control -- 6.6. Linear Quadratic Regulator -- 6.7. Linear Optimal Estimation -- 6.8. Linear Quadratic Gaussian (LQG) Control -- 6.9. Chapter 6 Summary -- 6.10. Chapter 6 References -- 6.11. Chapter 6 Problems -- 7 Nonlinear Systems and Sliding Mode Control -- 7.1.Introduction -- 7.2. State-Space Representation of a Dynamic System -- 7.3. Stability -- 7.4. Sliding Mode Control --  
505 0 |a 7.5. Chapter 7 Summary -- 7.6. Chapter 7 References -- 7.7. Chapter 7 Problems -- 8 Adaptive Sliding Mode Control -- 8.1. Introduction -- 8.2. Adaptive Sliding Mode Control -- 8.3. Examples -- 8.4. Chapter 8 Summary -- 8.5. Chapter 8 References -- 8.6. Chapter 8 Problems -- Appendix A: VFO2AD Optimization -- Appendix C: Hardware &: Software Support 
653 |a Control, Robotics, Automation 
653 |a Classical Mechanics 
653 |a Calculus of Variations and Optimization 
653 |a Control engineering 
653 |a Robotics 
653 |a Mechanical engineering 
653 |a Mechanical Engineering 
653 |a Mechanics 
653 |a Mathematical optimization 
653 |a Automation 
653 |a Calculus of variations 
700 1 |a Feddema, John  |e [author] 
700 1 |a Eisler, G. Richard  |e [author] 
700 1 |a Dohrmann, Clark  |e [author] 
041 0 7 |a eng  |2 ISO 639-2 
989 |b SBA  |a Springer Book Archives -2004 
490 0 |a IFSR International Series in Systems Science and Systems Engineering 
028 5 0 |a 10.1007/978-1-4615-0539-6 
856 4 0 |u https://doi.org/10.1007/978-1-4615-0539-6?nosfx=y  |x Verlag  |3 Volltext 
082 0 |a 621 
520 |a This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de­ cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls within the Mechanical En­ gineering Department at the University of New Mexico (UNM). These viewgraphs, encouragement from several students, and many late nights have produced a book that should provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals. The content of this book spans several disciplines including structural dynam­ ics, system identification, optimization, and linear, digital, and nonlinear control theory which are developed from several points of view including electrical, me­ chanical, and aerospace engineering as well as engineering mechanics. As a result, the authors believe that this book demonstrates the value of solid applied theory when developing hardware solutions to real world problems. The reader will find many real world applications in this book and will be shown the applicability of these techniques beyond flexible structures which, in turn, shows the value of mul­ tidisciplinary education and teaming