rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Multi-Arm Cooperating Robots
    sub title: Dynamics and Control
  name:
    name part: Zivanovic, M. D.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Vukobratovic, M. K.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: ne
    date issued: 2006
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XVI, 288 p. online resource.
  abstract: Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative manipulation and finding a way for a sufficiently exact characterization of cooperative system statics, kinematics and dynamics. After successfully completing this task, in the frame of the second task, the problem of coordinated motion of the cooperative system is solved. Finally, as a solution to the third task, the control laws of cooperative manipulation are synthesized. The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears. In static and dynamic analysis of the elastic structure of cooperative systems the finite element method is applied. In contrast to the procedure used in the major part of the available literature where deformation work is expressed by deviations from the unloaded state of fixed elastic structure, in this monograph the deformation work is expressed by internal forces as a function of the absolute coordinates of contacts of mobile elastic structure. Coordinated motion and control in cooperative manipulation are solved as the problem of coordinated motion and control of a mobile elastic structure, taking into account the specific features of cooperative manipulation. Coordinated motion and control laws in cooperative manipulation are synthesized on the basis of a non-linear model where the problem of uncertainty is solved, which is not the case in the available literature. Simple examples demonstrate the consistent procedure of mathematical modeling and synt…
  table of contents: to Cooperative Manipulation -- Problems in Cooperative Work -- to Mathematical Modeling of Cooperative Systems -- Mathematical Models of Cooperative Systems -- Synthesis of Nominals -- Cooperative System Control -- Conclusion: Looking Back on the Presented Results.
  note: by M. D. Zivanovic, M. K. Vukobratovic.
  subject:
    topic: Engineering
  subject:
    topic: System theory
  subject:
    topic: Applied mathematics
  subject:
    topic: Engineering mathematics
  subject:
    topic: Mechanics
  subject:
    topic: Mechanics, Applied
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Engineering
  subject:
    topic: Control
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Systems Theory, Control
  subject:
    topic: Appl.Mathematics/Computational Methods of Engineering
  subject:
    topic: Theoretical and Applied Mechanics
  subject:
    topic: Vibration, Dynamical Systems, Control
  classification: TJ212-225
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Microprocessor-Based and Intelligent Systems Engineering ; 30
  identifier: 9781402042690
  identifier: http://dx.doi.org/10.1007/1-4020-4269-8
  record info:
    record creation date: 100301
    record change date: 20151204185515.0
    record identifier: 978-1-4020-4269-0