This monograph represents the second book of the series entitled: "SCI ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu lator design in thfil broader sense of the word. At this point, the au thors would like to present some concepts which were their guidelines in preparing this text.
General Principles of Control Synthesis of Robots and Manipulators.- — system class definition.- Classification of robots.- Requirements of robot control synthesis.- Brief survey of results from the domain of robot control synthesis.- Principles of robot control synthesis.- References.- 1 Dynamics of Manipulators.- 1.1. Method for the construction of dynamic equation based on the basic theorems of mechanics.- 1.1.1. Mechanism parameters.- 1.1.2. Mechanism "assembly”.- 1.1.3. Determining the position of the open chain.- 1.1.4. Determining velocities and accelerations.- 1.1.5. Determining the forces and moments of inertial forces.- 1.1.6. Kinetostatic procedure for obtaining differential motion equations.- 1.2. The complete dynamical model of manipulation systems.- 1.3. Computer oriented method for linearization of dynamic models of open kinematic chains.- References.- 2 Synthesis of Manipulation Control.- 2.1. Introduction.- 2.2. Definition of the control task.- 2.3. Stage of nominal dynamics.- 2.4. Stage of perturbed dynamics.- 2.5. Linear optimal regulator.- 2.6. Synthesis of decentralized and global control-stage of perturbed dynamics.- 2.6.1. Local control synthesis.- 2.6.2. Stability.- 2.6.3. Suboptimality.- 2.6.4. Global control synthesis.- 2.6.5. "Distribution of the model” between local subsystems and coupling.- 2.6.6. Decoupled control` of manipulators based on asymptotic regulator properties.- 2.7. Discrete-time control synthesis.- 2.7.1. Linear optimal regulator synthesis in a discrete-time domain.- 2.7.2. Synthesis of decentralized regulator and observer in the discrete-time domain.- 2.8. An interactive computer-oriented algorithm for control synthesis.- 2.9. Conclusion.- References.- Appendix 2. A. Suboptimality of Global Control.- Appendix 2. B. Analysis of »Distribution of the Model« Between Subsystems and Coupling.- Reference.- Appendix 2. C. Stability Analysis of System with Decentralized Regulator and Observer.- References.- 3 Control Synthesis for Typical Manipulations Tasks.- 3.1. Introduction.- 3.2. Task of transferring the manipulator tip along a desired trajectory.- 3.2.1. Nominal dynamic synthesis.- 3.2.2. Linear optimal regulator — control synthesis at the stage of perturbed dynamics.- 3.2.3. Decentralized control — control synthesis at the stage of perturbed dynamics.- 3.2.4. Asymptotic regulator — control synthesis at the stage of perturbed dynamics.- 3.3. Transfer of working object with desired orientation along prescribed trajectory.- 3.3.1. Nominal dynamics synthesis.- 3.3.2. Decentralized control — control synthesis at the stage of perturbed dynamics.- 3.3.3. Suboptimality analysis of decentralized control and various global control laws.- 3.3.4. Synthesis of decentralized observer.- 3.4. Control of orientation of gripper using load-feedback.- 3.5. Assembly process.- 3.5.1. Analysis of forces in assembly process.- 3.5.2. Synthesis of control of manipulator in assembly process.- 3.6. Multiprocessor realization of decentralized and global control.- 3.7. Conclusion.- References.- Appendix 3. A. Simulation Algorithm for Assembly.
This monograph represents the second book of the series entitled: "SCI ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu lator design in thfil broader sense of the word. At this point, the au thors would like to present some concepts which were their guidelines in preparing this text.
General Principles of Control Synthesis of Robots and Manipulators.- - system class definition.- Classification of robots.- Requirements of robot control synthesis.- Brief survey of results from the domain of robot control synthesis.- Principles of robot control synthesis.- References.- 1 Dynamics of Manipulators.- 1.1. Method for the construction of dynamic equation based on the basic theorems of mechanics.- 1.2. The complete dynamical model of manipulation systems.- 1.3. Computer oriented method for linearization of dynamic models of open kinematic chains.- References.- 2 Synthesis of Manipulation Control.- 2.1. Introduction.- 2.2. Definition of the control task.- 2.3. Stage of nominal dynamics.- 2.4. Stage of perturbed dynamics.- 2.5. Linear optimal regulator.- 2.6. Synthesis of decentralized and global control-stage of perturbed dynamics.- 2.7. Discrete-time control synthesis.- 2.8. An interactive computer-oriented algorithm for control synthesis.- 2.9. Conclusion.- References.- Appendix 2. A. Suboptimality of Global Control.- Appendix 2. B. Analysis of »Distribution of the Model« Between Subsystems and Coupling.- Reference.- Appendix 2. C. Stability Analysis of System with Decentralized Regulator and Observer.- References.- 3 Control Synthesis for Typical Manipulations Tasks.- 3.1. Introduction.- 3.2. Task of transferring the manipulator tip along a desired trajectory.- 3.3. Transfer of working object with desired orientation along prescribed trajectory.- 3.4. Control of orientation of gripper using load-feedback.- 3.5. Assembly process.- 3.6. Multiprocessor realization of decentralized and global control.- 3.7. Conclusion.- References.- Appendix 3. A. Simulation Algorithm for Assembly.
Inhaltsverzeichnis
General Principles of Control Synthesis of Robots and Manipulators.- - system class definition.- Classification of robots.- Requirements of robot control synthesis.- Brief survey of results from the domain of robot control synthesis.- Principles of robot control synthesis.- References.- 1 Dynamics of Manipulators.- 1.1. Method for the construction of dynamic equation based on the basic theorems of mechanics.- 1.1.1. Mechanism parameters.- 1.1.2. Mechanism "assembly".- 1.1.3. Determining the position of the open chain.- 1.1.4. Determining velocities and accelerations.- 1.1.5. Determining the forces and moments of inertial forces.- 1.1.6. Kinetostatic procedure for obtaining differential motion equations.- 1.2. The complete dynamical model of manipulation systems.- 1.3. Computer oriented method for linearization of dynamic models of open kinematic chains.- References.- 2 Synthesis of Manipulation Control.- 2.1. Introduction.- 2.2. Definition of the control task.- 2.3. Stage of nominal dynamics.- 2.4. Stage of perturbed dynamics.- 2.5. Linear optimal regulator.- 2.6. Synthesis of decentralized and global control-stage of perturbed dynamics.- 2.6.1. Local control synthesis.- 2.6.2. Stability.- 2.6.3. Suboptimality.- 2.6.4. Global control synthesis.- 2.6.5. "Distribution of the model" between local subsystems and coupling.- 2.6.6. Decoupled control` of manipulators based on asymptotic regulator properties.- 2.7. Discrete-time control synthesis.- 2.7.1. Linear optimal regulator synthesis in a discrete-time domain.- 2.7.2. Synthesis of decentralized regulator and observer in the discrete-time domain.- 2.8. An interactive computer-oriented algorithm for control synthesis.- 2.9. Conclusion.- References.- Appendix 2. A. Suboptimality of Global Control.- Appendix 2. B. Analysis of »Distribution of the Model« Between Subsystems and Coupling.- Reference.- Appendix 2. C. Stability Analysis of System with Decentralized Regulator and Observer.- References.- 3 Control Synthesis for Typical Manipulations Tasks.- 3.1. Introduction.- 3.2. Task of transferring the manipulator tip along a desired trajectory.- 3.2.1. Nominal dynamic synthesis.- 3.2.2. Linear optimal regulator - control synthesis at the stage of perturbed dynamics.- 3.2.3. Decentralized control - control synthesis at the stage of perturbed dynamics.- 3.2.4. Asymptotic regulator - control synthesis at the stage of perturbed dynamics.- 3.3. Transfer of working object with desired orientation along prescribed trajectory.- 3.3.1. Nominal dynamics synthesis.- 3.3.2. Decentralized control - control synthesis at the stage of perturbed dynamics.- 3.3.3. Suboptimality analysis of decentralized control and various global control laws.- 3.3.4. Synthesis of decentralized observer.- 3.4. Control of orientation of gripper using load-feedback.- 3.5. Assembly process.- 3.5.1. Analysis of forces in assembly process.- 3.5.2. Synthesis of control of manipulator in assembly process.- 3.6. Multiprocessor realization of decentralized and global control.- 3.7. Conclusion.- References.- Appendix 3. A. Simulation Algorithm for Assembly.
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