Motion control systems /

Motion control systems /

"Presents a unified approach to the fundamental issues in motion control, starting from the basics and moving through single degree of freedom and multi-degree of freedom systems In Motion Control Systems, Šabanovic and Ohnishi present a unified approach to very diverse issues covered in motio...

Πλήρης περιγραφή

Λεπτομέρειες βιβλιογραφικής εγγραφής
Κύριοι συγγραφείς: Sabanovic, Asif (Συγγραφέας), Ohnishi, K. (Kouhei), 1952- (Συγγραφέας)
Μορφή: Ηλ. βιβλίο
Γλώσσα:English
Έκδοση: [Piscataway, New Jersey] : Singapore : IEEE Press ; John Wiley & Sons (Asia) Pte Ltd, 2011.
Θέματα:
Motion control devices.
Engineering.
Mechanical engineering.
Electronic books.
Διαθέσιμο Online:Full Text via HEAL-Link
Πίνακας περιεχομένων:
  • PART ONE. BASICS OF DYNAMICS AND CONTROL
  • 1. Dynamics of Electromechanical Systems
  • 1.1. Basic Quantities
  • 1.2. Fundamental Concepts of Mechanical Systems
  • 1.3. Electric and Electromechanical Systems
  • 2. Control System Design
  • 2.1. Basic Concepts
  • 2.2. State Space Representation
  • 2.3. Dynamic Systems with Finite Time Convergence
  • PART TWO. ISSUES IN MOTION CONTROL
  • 3. Acceleration Control
  • 3.1. Plant
  • 3.2. Acceleration Control
  • 3.3. Enforcing Convergence and Stability
  • 3.4. Trajectory Tracking
  • 4. Disturbance Observers
  • 4.1. Disturbance Model Based Observers
  • 4.2. Closed Loop Disturbance Observers
  • 4.3. Observer for Plant with Actuator
  • 4.4. Estimation of Equivalent Force and Equivalent Acceleration
  • 4.5. Functional Observers
  • 4.6. Dynamics of Plant with Disturbance Observer
  • 4.7. Properties of Measurement Noise Rejection
  • 4.8. Control of Compensated Plant
  • 5. Interactions and Constraints
  • 5.1. Interaction Force Control
  • 5.2. Constrained Motion Control
  • 5.3. Interactions in Functionally Related Systems
  • 6. Bilateral Control Systems
  • 6.1. Bilateral Control without Scaling
  • 6.2. Bilateral Control Systems in Acceleration Dimension
  • 6.3. Bilateral Systems with Communication Delay
  • PART THREE. MULTIBODY SYSTEMS
  • 7. Configuration Space Control
  • 7.1. Independent Joint Control
  • 7.2. Vector Control in Configuration Space
  • 7.3. Constraints in Configuration Space
  • 7.4. Hard Constraints in Configuration Space
  • 8. Operational Space Dynamics and Control
  • 8.1. Operational Space Dynamics
  • 8.2. Operational Space Control
  • 9. Interactions in Operational Space
  • 9.1. Task-Constraint Relationship
  • 9.2. Force Control
  • 9.3. Impedance Control
  • 9.4. Hierarchy of Tasks
  • Index.

Παρόμοια τεκμήρια