Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach

Stefano Stramigioli

ISBN 10: 1852333952 / ISBN 13: 9781852333959

Editore: Springer London, Springer London, 2001

Riguardo questo articolo

Druck auf Anfrage Neuware - Printed after ordering - Robots, and more generally mechanical systems, are types of a physical system. This is why it is important to study and control these systems using information about their particular structure that describes their particular nature.In discussing physical systems, concepts like energy, interconnection and interaction, become of substantial importance. Furthermore, during the modeling and control tasks, the results we obtain should be independent from artificial co-ordinates that people use to analyse the results of their work. This has lead to the concept of co-ordinate free description and tensors that have been used a lot in the theory of relativity.Throughout this book emphasis is placed on the intrinsic description of the results reported.The book describes the modeling and control of robotic systems subject to interaction. It covers everything from basic concepts of differential geometry to real robotics. Physics and the geometric interconnection of arts play a major role throughout the work.

Codice articolo 9781852333959

Dati bibliografici

• Titolo: Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach
• Editore: Springer London, Springer London
• Data di pubblicazione: 2001
• Lingua: Inglese
• ISBN 10: 1852333952
• ISBN 13: 9781852333959
• Rilegatura: Taschenbuch
• Condizione: Neu
• Dimensioni: 235 L x 155 A x 17 P (millimetri) 235 millimetri di larghezza per 155 millimetri di altezza per 17 millimetri di profondità
• Peso: 452 grammi

Descrizione articolo

Riassunto

Robots, and more generally mechanical systems, are types of a physical system. This is why it is important to study and control these systems using information about their particular structure that describes their particular nature.
In discussing physical systems, concepts like energy, interconnection and interaction, become of substantial importance. Furthermore, during the modeling and control tasks, the results we obtain should be independent from artificial co-ordinates that people use to analyse the results of their work. This has lead to the concept of co-ordinate free description and tensors that have been used a lot in the theory of relativity.
Throughout this book emphasis is placed on the intrinsic description of the results reported.
The book describes the modeling and control of robotic systems subject to interaction. It covers everything from basic concepts of differential geometry to real robotics. Physics and the geometric interconnection of arts play a major role throughout the work.

Contenuti

Rigid bodies and motions.- Kinematics of rigid mechanisms.- Dynamics of rigid mechanisms.- Intrinsically passive control.- A novel impedance crasping strategy.- IPC in telemanipulation.- Mathematical background.- Basics of bond graphs.