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Intro; Preface; Contents; 1 Dynamic Decoupling of Robot Manipulators: A Review with New Examples; Abstract; 1.1 Dynamics and Control of Manipulators; 1.2 Design of Manipulators with Linear and Decoupled Dynamics; 1.3 Improved Dynamic Decoupling of Robot Manipulators Through the Use of Gears as Counterweights; 1.4 Dynamic Decoupling of Robot Manipulators by Using Epicyclic Gear Train; 1.5 Summary; References; 2 Design of Adjustable Serial Manipulators with Decoupled Dynamics; Abstract; 2.1 Design Concept of Manipulators with Adjustable Links
2.1.1 Dynamic Decoupling Modeling of an Arbitrary Serial Manipulator2.1.2 Adjustment Lengths of Links for Ensuring Opposite Rotations; 2.2 Motion Generation and Dynamic Decoupling of the Adjustable Manipulators; 2.2.1 Motion Generation via Fifth-Order Polynomial Trajectory Planning; 2.2.2 Dynamic Decoupling Without Payload; 2.3 Closed-Loop Control; 2.3.1 Command of the First Double Integrator; 2.3.2 Feedback Parameters of the First Double Integrator; 2.4 Dynamic Decoupling Taking into Account the Payload; 2.5 Illustrative Example with the SIMULINK Block of MATLAB
2.5.1 Simulation Model of Open-Loop Control System2.5.2 Simulation Model of Closed-Loop Control System; 2.6 Summary; References; 3 Dynamic Decoupling of Planar Serial Manipulators with Revolute Joints; Abstract; 3.1 Dynamic Decoupling Modeling via Adding a Two-Link Group; 3.2 Closed-Loop Control; 3.2.1 Command of the First Double Integrator; 3.2.2 Determination of the Feedback Parameters for the First Double Integrator; 3.3 Dynamic Analysis Taking into Account the Payload; 3.4 Illustrative Example with the SIMULINK Block of MATLAB; 3.4.1 Simulation Model of Open-Loop Control System
3.4.2 Simulation Model of Closed-Loop Control System3.5 Summary; References; 4 Tolerance Analysis of Serial Manipulators with Decoupled and Coupled Dynamics; Abstract; 4.1 Performance Indices of the Manipulators; 4.2 The Dynamic Models of Manipulators for Tolerance Capability Comparison; 4.3 Tolerance Capability Comparison Among the Manipulators; 4.3.1 Tolerance Capability Comparison by Introducing the Fixed Parametric Error; 4.3.2 Tolerance Capability Comparison by Introducing the Random Parametric Error; 4.4 Summary; References; 5 Dynamics Decoupling Control of Parallel Manipulator
Abstract5.1 Introduction; 5.2 Transient Force Decoupling; 5.2.1 Dynamic Coupling Analysis; 5.2.2 Decoupling Control Based on Dynamic Model; 5.2.2.1 Feed Forward Compensation Control for Disturbing Force; 5.2.2.2 Control Based on Dynamic Model; 5.3 Modal Decoupling; 5.3.1 Free Vibration Model of Redundant Vibrating Table; 5.3.2 Modal Space Decoupling Control; 5.3.3 Modal Matrix Analysis of Load Eccentricity; 5.4 Experiment; 5.4.1 Experiment of Dynamics Coupling Analysis; 5.4.2 Experiment of Dynamics Decoupling Control Based on Dynamics Model; 5.4.3 Experiment of Modal Decoupling Control
2.1.1 Dynamic Decoupling Modeling of an Arbitrary Serial Manipulator2.1.2 Adjustment Lengths of Links for Ensuring Opposite Rotations; 2.2 Motion Generation and Dynamic Decoupling of the Adjustable Manipulators; 2.2.1 Motion Generation via Fifth-Order Polynomial Trajectory Planning; 2.2.2 Dynamic Decoupling Without Payload; 2.3 Closed-Loop Control; 2.3.1 Command of the First Double Integrator; 2.3.2 Feedback Parameters of the First Double Integrator; 2.4 Dynamic Decoupling Taking into Account the Payload; 2.5 Illustrative Example with the SIMULINK Block of MATLAB
2.5.1 Simulation Model of Open-Loop Control System2.5.2 Simulation Model of Closed-Loop Control System; 2.6 Summary; References; 3 Dynamic Decoupling of Planar Serial Manipulators with Revolute Joints; Abstract; 3.1 Dynamic Decoupling Modeling via Adding a Two-Link Group; 3.2 Closed-Loop Control; 3.2.1 Command of the First Double Integrator; 3.2.2 Determination of the Feedback Parameters for the First Double Integrator; 3.3 Dynamic Analysis Taking into Account the Payload; 3.4 Illustrative Example with the SIMULINK Block of MATLAB; 3.4.1 Simulation Model of Open-Loop Control System
3.4.2 Simulation Model of Closed-Loop Control System3.5 Summary; References; 4 Tolerance Analysis of Serial Manipulators with Decoupled and Coupled Dynamics; Abstract; 4.1 Performance Indices of the Manipulators; 4.2 The Dynamic Models of Manipulators for Tolerance Capability Comparison; 4.3 Tolerance Capability Comparison Among the Manipulators; 4.3.1 Tolerance Capability Comparison by Introducing the Fixed Parametric Error; 4.3.2 Tolerance Capability Comparison by Introducing the Random Parametric Error; 4.4 Summary; References; 5 Dynamics Decoupling Control of Parallel Manipulator
Abstract5.1 Introduction; 5.2 Transient Force Decoupling; 5.2.1 Dynamic Coupling Analysis; 5.2.2 Decoupling Control Based on Dynamic Model; 5.2.2.1 Feed Forward Compensation Control for Disturbing Force; 5.2.2.2 Control Based on Dynamic Model; 5.3 Modal Decoupling; 5.3.1 Free Vibration Model of Redundant Vibrating Table; 5.3.2 Modal Space Decoupling Control; 5.3.3 Modal Matrix Analysis of Load Eccentricity; 5.4 Experiment; 5.4.1 Experiment of Dynamics Coupling Analysis; 5.4.2 Experiment of Dynamics Decoupling Control Based on Dynamics Model; 5.4.3 Experiment of Modal Decoupling Control