Preface; List of Figures; List of Tables; Contributors; Symbols; 1 Introduction; 1.1 Motivation; 1.2 Objectives of the Book; 2 Methods in Motion Control 5; 2.1 General Structure of Control Systems; 2.2 Control of Functionally Related Systems; 2.3 Conclusion; 3 Design of Motion Control System for Functionally Related Systems; 3.1 Configuration Space Control; 3.2 System Dynamics; 3.3 Dynamics of System with Tasks in Hierarchical Structure; 3.4 Relationship between Constraints and Tasks; 3.5 Control Synthesis; 3.6 Conclusion; 4 Functions in Motion Control Systems; 4.1 Selection of Function Vector and Selection of Function Vector Reference; 4.2 Closed-Loop Dynamics in Configuration Space; 4.3 Zero Dynamics; 4.4 Conclusion; 5 Motion Synchronization and Object Manipulation in 2-D Space; 5.1 Experimental Setup; 5.2 Direct Kinematics of Pantograph Manipulator; 5.3 Dynamic Model of Pantograph Manipulator; 5.4 Motion Synchronization Task in 2-D Space; 5.5 Object Manipulation Task in 2-D Space; 5.6 Conclusion; 6 Formation Control; 6.1 Low-Level Control Design; 6.2 High-Level Control Design; 6.3 Simulation Results; 6.4 Conclusion; 7 A New Driving Principle for Piezoelectric Walkers; 7.1 Motor Description; 7.2 Waveforms Definition based on Functions; 7.3 Control Method; 7.4 Experimental Results; 7.5 Generalization of the Presented Approach; 7.6 Conclusion; 8 Illustrative Simulation Examples; 8.1 Tasks Involving Planar Manipulators; 8.2 Bilateral System; 8.3 Task Involving Elbow Manipulators; 8.4 Conclusion; 9 Conclusion; Bibliography; Index


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    Title :

    Motion Control of Functionally Related Systems


    Contributors:
    Uzunovic, Tarik (author) / Sabanovic, Asif (participant)


    Publication date :

    2020


    Size :

    1 online resource.


    Remarks:

    Campusweiter Zugriff (Universität Hannover) - Vervielfältigungen (z.B. Kopien, Downloads) sind nur von einzelnen Kapiteln oder Seiten und nur zum eigenen wissenschaftlichen Gebrauch erlaubt. Keine Weitergabe an Dritte. Kein systematisches Downloaden durch Robots.




    Type of media :

    Book


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629.8





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