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
Table of Contents:
  • 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
  • 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
  • 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