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أخوانى فى الله أحضرت لكم كتاب
Multi-Arm Cooperating Robots- Dynamics and Control Zivanovic and Vukobratovic
ويتناول الموضوعات الأتية :
INTRODUCTION TO COOPERATIVE MANIPULATION Cooperative Systems – Manipulation Systems Contact in the Cooperative Manipulation The Nature of Contact Introducing Coordinate Frames General Convention on Symbols and Quantity Designations Relation to Contact Tasks Involving One Manipulator PROBLEMS IN COOPERATIVEWORK Kinematic Uncertainty Kinematic uncertainty due to manipulator redundancy Kinematic uncertainty due to contact characteristics Force Uncertainty Summary of Uncertainty Problems in Cooperative Work The Problem of Control INTRODUCTION TO MATHEMATICAL MODELING OF COOPERATIVE SYSTEMS Some Known Solutions to Cooperative Manipulation Models A Method to Model Cooperative Manipulation Illustration of the Correct Modeling Procedure vi Table of Contents Simulation of the Motion of a Linear Cooperative System Summary of the Problem of Mathematical Modeling MATHEMATICAL MODELS OF COOPERATIVE SYSTEMS Introductory Remarks Setting Up the Problem of Mathematical Modeling of a Complex Cooperative System Theoretical Bases of the Modeling of an Elastic System Elastic System Deformations as a Function of Absolute Coordinates Model of Elastic System Dynamics for the Immobile Unloaded State Model of Elastic System Dynamics for a Mobile Unloaded State Properties of the Potential Energy and Elasticity Force of the Elastic System Properties of potential energy and elasticity force of the elastic system in the loaded state translation Properties of potential energy and elasticity force of the elastic system during its rotation in the loaded state Model of Manipulator Dynamics Kinematic Relations Model of Cooperative System Dynamics for the Immobile Unloaded State Model of Cooperative System Dynamics for the Mobile Unloaded State Forms of the Motion Equations of Cooperative System Stationary and Equilibrium States of the Cooperative System Example SYNTHESIS OF NOMINALS Introduction – Problem Definition Elastic System Nominals Nominal gripping of the elastic system Nominal motion of the elastic system Nominal Driving Torques Algorithms to Calculate the Nominal Motion in Cooperative Manipulation Algorithm to calculate the nominal motion in gripping for the conditions given for the manipulated object MC Table of Contents vii Algorithm to calculate the nominal motion in gripping for the conditions of a selected contact point Algorithm to calculate the nominal general motion for the conditions given for the manipulated object MC Algorithm to calculate the nominal general motion for the conditions given for one contact point Example of the algorithm for determining the nominal motion COOPERATIVE SYSTEM CONTROL Introduction to the Problem of Cooperative System Control Classification of Control Tasks Basic assumptions Classification of the tasks Choice of Control Tasks in Cooperative Manipulation Control Laws Mathematical model Illustration of the application of the input calculation method Control laws for tracking the nominal trajectory of the manipulated object MC and nominal trajectories of contact points of the followers Behavior of the non-controlled quantities in tracking the manipulated object MC and nominal trajectories of contact points of the followers Control laws to track the nominal trajectory of the manipulated object MC and nominal contact forces of the followers Behavior of the non-controlled quantities in tracking the trajectory of the manipulated object MC and nominal contact forces of the followers Examples of Selected Control Laws CONCLUSION: LOOKING BACK ON THE PRESENTED RESULTS An Overview of the Introductory Considerations On Mathematical Modeling Cooperative System Nominals Cooperative System Control Laws viii Table of Contents General Conclusions about the Study of Cooperative Manipulation Possible Directions of Further Research APPENDIX A: ELASTIC SYSTEM MODEL FOR THE IMMOBILE UNLOADED STATE APPENDIX B: ELASTIC SYSTEM MODEL FOR THE MOBILE UNLOADED STATE REFERENCES INDEX
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