1st Edition

Advanced Dynamics Modeling, Duality and Control of Robotic Systems

By Edward Y.L. Gu Copyright 2022
    320 Pages 78 B/W Illustrations
    by CRC Press

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    This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures.

    In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well.

    It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.

    Chapter 1 Introduction
    1.1 Kinematics, Statics and Dynamics
    1.2 Dynamics Modeling and Model Compaction
    1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics
    1.4 Adaptive and Interactive Control of Robotic Systems
    1.5 The Organization of the Book

    Chapter 2 Fundamental Preliminaries
    2.1 Mathematical Preparations
    2.2 Robot Kinematics: Theories and Representations
    2.3 Robot Statics and Applications

    Chapter 3 Robot Dynamics Modeling
    3.1 The History of Robot Dynamic Formulations
    3.2 The Assumption of Rigid Body and Rigid Motion
    3.3 Kinetic Energy, Potential Energy and Lagrange Equations
    3.4 Dynamic Formulations for Robotic Systems

    Chapter 4 Advanced Dynamics Modeling
    4.1 The Configuration Manifold and Isometric Embedding
    4.2 How To Find an Isometric Embedding
    4.3 Applications to Robot Dynamics Modeling

    Chapter 5 The Principle of Duality in Kinematics and Dynamics
    5.1 Kinematic Structures for Stewart Platform
    5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots
    5.3 Duality Between Open Serial-Chain and Closed Parallel-Chain Systems
    5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots

    Chapter 6 Nonlinear Control Theories
    6.1 Lyapunov Stability Theories and Control Strategies
    6.2 Controllability and Observability
    6.3 Input-State and Input-Output State-Feedback Linearization
    6.4 Isometric Embedding Dynamic Model and Control
    6.5 Linearizable Subsystems and Internal Dynamics
    6.6 Control of a Minimum-Phase System
    6.7 Examples of Partially Linearizable Systems with Internal Dynamics

    Chapter 7 Adaptive Control of Robotic Systems
    7.1 The Control Law and Adaptation Law
    7.2 Applications and Simulation/Animation Studies

    Chapter 8 Dynamics Modeling and Control of Cascaded Systems
    8.1 Dynamic Interactions Between Robot and Environment
    8.2 Cascaded DynamicsModels with Backstepping Control Recursion
    8.3 Modeling and InteractiveControl of Robot-Environment Systems


    Edward Y.L. Gu is currently a Professor with the Department of Electrical and Computer Engineering (ECE), Oakland University, Michigan. He co-founded the OU-Chrysler Robotics and Controls Lab at OU ten years ago.