Modeling and IPC Control of Interactive Mechanical Systems - A Coordinate-Free Approach

• Main Author: Stramigioli, Stefano (Author, http://id.loc.gov/vocabulary/relators/aut)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: London : Springer London : Imprint: Springer, 2001.
• Edition: 1st ed. 2001.
• Series: Lecture Notes in Control and Information Sciences, 266
• Subjects: Industrial engineering.; Production engineering.; Robotics.; Automation.; Electrical engineering.; Control engineering.; Mechatronics.; Mechanical engineering.; Industrial and Production Engineering.; Robotics and Automation.; Electrical Engineering.; Control, Robotics, Mechatronics.; Mechanical Engineering.

Robots, and more generally mechanical systems, are types of a physical system. This is why it is important to study and control these systems using information about their particular structure that describes their particular nature. In discussing physical systems, concepts like energy, interconnecti...

Table of Contents:

• Rigid bodies and motions
• Kinematics of rigid mechanisms
• Dynamics of rigid mechanisms
• Intrinsically passive control
• A novel impedance crasping strategy
• IPC in telemanipulation
• Mathematical background
• Basics of bond graphs.