V. I. Babitsky, Alexander Shipilov

Resonant Robotic Systems (eBook, PDF)

Übersetzer: Birkett, Nicholas

• Format: PDF

Produktbeschreibung

Especially designed as self-sustaining oscillating systems, resonant robotic systems use the natural modes of oscillation of electromechanical modules for their movements. In fact, manipulator systems built on these principles demonstrate record-breaking characteristics in performance. The authors summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.

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Produktdetails

• Verlag: Springer Berlin Heidelberg
• Seitenzahl: 176
• Erscheinungstermin: 22. September 2012
• Englisch
• ISBN-13: 9783540363804
• Artikelnr.: 53202004

Inhaltsangabe

1. Application of resonant systems.-
1.1 Load relief and balancing of robotic systems.-
1.2 Systems to relieve drives from inertia forces.-
1.3 Resonant robotic system components.-
1.4 Synthesis of spring accumulators.-
1.5 Design of resonant robotic systems.- 2. Dynamics of resonant robotic systems.-
2.1 Equations of motion for resonant robots.-
2.2 Resonant systems with ideal drives.-
2.3 Electromechanical drive for resonant systems.- 3. Optimal control of resonant systems.-
3.1 Statement of the optimisation problem. Efficiency criteria.-
3.2 Synthesis of optimal cyclic drive.-
3.3 Control of resonant drives with minimal energy consumption.-
3.4 Operating speed of cyclic resonant drives.-
3.5 Optimal control with minimal heat generation.-
3.6 Control to minimise cumulative angular momentum of the driver.-
3.7 Efficiency of control for resonant drives.- 4. Adaptive control of resonant robots.-
4.1 Introduction.-
4.2 Synthesis of regulator.-
4.3 Adaptive control.-
4.4 Simultaneous control of rotation and translation.-
4.5 Conclusion.