1st Edition
Advanced Dynamics Modeling, Duality and Control of Robotic Systems
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
Biography
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.
