Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer. This book was released on 2015-11-05 with total page 582 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Download or read book Nonholonomic Mechanics and Control written by A.M. Bloch and published by Springer Science & Business Media. This book was released on 2007-09-27 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.
Download or read book Mechanics of non holonomic systems written by Sh.Kh Soltakhanov and published by Springer Science & Business Media. This book was released on 2009-05-27 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt: A general approach to the derivation of equations of motion of as holonomic, as nonholonomic systems with the constraints of any order is suggested. The system of equations of motion in the generalized coordinates is regarded as a one vector relation, represented in a space tangential to a manifold of all possible positions of system at given instant. The tangential space is partitioned by the equations of constraints into two orthogonal subspaces. In one of them for the constraints up to the second order, the motion low is given by the equations of constraints and in the other one for ideal constraints, it is described by the vector equation without reactions of connections. In the whole space the motion low involves Lagrangian multipliers. It is shown that for the holonomic and nonholonomic constraints up to the second order, these multipliers can be found as the function of time, positions of system, and its velocities. The application of Lagrangian multipliers for holonomic systems permits us to construct a new method for determining the eigenfrequencies and eigenforms of oscillations of elastic systems and also to suggest a special form of equations for describing the system of motion of rigid bodies. The nonholonomic constraints, the order of which is greater than two, are regarded as programming constraints such that their validity is provided due to the existence of generalized control forces, which are determined as the functions of time. The closed system of differential equations, which makes it possible to find as these control forces, as the generalized Lagrange coordinates, is compound. The theory suggested is illustrated by the examples of a spacecraft motion. The book is primarily addressed to specialists in analytic mechanics.
Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.
Download or read book Nonholonomic Mechanics and Control by Anthony Bloch written by and published by . This book was released on 2007 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Geometric Control and Numerical Aspects of Nonholonomic Systems written by Jorge Cortés Monforte and published by Springer. This book was released on 2004-10-19 with total page 235 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic systems are a widespread topic in several scientific and commercial domains, including robotics, locomotion and space exploration. This work sheds new light on this interdisciplinary character through the investigation of a variety of aspects coming from several disciplines. The main aim is to illustrate the idea that a better understanding of the geometric structures of mechanical systems unveils new and unknown aspects to them, and helps both analysis and design to solve standing problems and identify new challenges. In this way, separate areas of research such as Classical Mechanics, Differential Geometry, Numerical Analysis or Control Theory are brought together in this study of nonholonomic systems.
Download or read book Nonholonomic Motion of Rigid Mechanical Systems from a DAE Viewpoint written by Patrick J. Rabier and published by SIAM. This book was released on 2000-01-01 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Focuses on rigid body systems subjected to kinematic constraints and discusses in detail how the equations of motion are developed. The authors show that such motions can be modeled in terms of differential algebraic equations (DAEs), provided only that the correct variables are introduced.
Download or read book Kinematics and Dynamics of Multi Body Systems written by J. Angeles and published by Springer. This book was released on 2014-05-04 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three main disciplines in the area of multibody systems are covered: kinematics, dynamics, and control, as pertaining to systems that can be modelled as coupling or rigid bodies. The treatment is intended to give a state of the art of the topics discussed.
Download or read book Nonholonomic Geometry Mechanics and Control written by Rui Yang and published by . This book was released on 1992 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: The motions of various mechanical systems which we wish to synthesize and control often have to satisfy certain kinds of restrictions imposed by the natural environment or the structure of the systems themselves. In mechanics, such restrictions are called constraints. Although the fundamental theory of mechanical systems with constraints was established and developed in the last century, recent research and developments in analytical mechanics and control theory from a geometric viewpoint have inspired a strong desire to reinterpret and reformulate the theory of constrained dynamics in an intrinsic geometric way. In addition, many practical problems in recent investigations in mechanical and electrical engineering, such as modeling and control of mobile robots and dextrons robotic hands, and the design and control of spacecraft, also show the need for a deeper understanding of the role that constraints play in mechanical systems.
Download or read book Nonlinear Control and Analytical Mechanics written by Harry G. Kwatny and published by Springer Science & Business Media. This book was released on 2000-09-08 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the past decade we have had to confront a series of control design prob lems - involving, primarily, multibody electro-mechanical systems - in which nonlinearity plays an essential role. Fortunately, the geometric theory of non linear control system analysis progressed substantially during the 1980s and 90s, providing crucial conceptual tools that addressed many of our needs. However, as any control systems engineer can attest, issues of modeling, computation, and implementation quickly become the dominant concerns in practice. The prob lems of interest to us present unique challenges because of the need to build and manipulate complex mathematical models for both the plant and controller. As a result, along with colleagues and students, we set out to develop computer algebra tools to facilitate model building, nonlinear control system design, and code generation, the latter for both numerical simulation and real time con an outgrowth of that continuing effort. As trol implementation. This book is a result, the unique features of the book includes an integrated treatment of nonlinear control and analytical mechanics and a set of symbolic computing software tools for modeling and control system design. By simultaneously considering both mechanics and control we achieve a fuller appreciation of the underlying geometric ideas and constructions that are common to both. Control theory has had a fruitful association with analytical mechanics from its birth in the late 19th century.
Download or read book Rational and Applied Mechanics written by Nikolai Nikolaevich Polyakhov and published by Springer Nature. This book was released on 2021-08-30 with total page 526 pages. Available in PDF, EPUB and Kindle. Book excerpt: Available for the first time in English, this two-volume course on theoretical and applied mechanics has been honed over decades by leading scientists and teachers, and is a primary teaching resource for engineering and maths students at St. Petersburg University. The course addresses classical branches of theoretical mechanics (Vol. 1), along with a wide range of advanced topics, special problems and applications (Vol. 2). This first volume of the textbook contains the parts “Kinematics” and “Dynamics”. The part “Kinematics” presents in detail the theory of curvilinear coordinates which is actively used in the part “Dynamics”, in particular, in the theory of constrained motion and variational principles in mechanics. For describing the motion of a system of particles, the notion of a Hertz representative point is used, and the notion of a tangent space is applied to investigate the motion of arbitrary mechanical systems. In the final chapters Hamilton-Jacobi theory is applied for the integration of equations of motion, and the elements of special relativity theory are presented. This textbook is aimed at students in mathematics and mechanics and at post-graduates and researchers in analytical mechanics.
Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Download or read book Geometric Control of Mechanical Systems written by Francesco Bullo and published by Springer. This book was released on 2019-06-12 with total page 727 pages. Available in PDF, EPUB and Kindle. Book excerpt: The area of analysis and control of mechanical systems using differential geometry is flourishing. This book collects many results over the last decade and provides a comprehensive introduction to the area.
Download or read book Geometric Control and Non holonomic Mechanics written by Velimir Jurdjevic and published by American Mathematical Soc.. This book was released on 1998 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control theory, a synthesis of geometric theory of differential equations enriched with variational principles and the associated symplectic geometry, emerges as a new mathematical subject of interest to engineers, mathematicians, and physicists. This collection of articles focuses on several distinctive research directions having origins in mechanics and differential geometry, but driven by modern control theory. The first of these directions deals with the singularities of small balls for problems of sub-Riemannian geomtery and provides a generic classification of singularities for two-dimensional distributions of contact type in a three-dimensional ambient space. The second direction deals with invariant optimal problems on Lie groups exemplified through the problem of Dublins extended to symmetric spaces, the elastic problem of Kirchhoff and its relation to the heavy top. The results described in the book are explicit and demonstrate convincingly the power of geometric formalism. The remaining directions deal with the geometric nature of feedback analysed through the language of fiber bundles, and the connections of geometric control to non-holonomic problems in mechanics, as exemplified through the motions of a sphere on surfaces of revolution. This book provides quick access to new research directions in geometric control theory. It also demonstrates the effectiveness of new insights and methods that control theory brings to mechanics and geometry.
Download or read book Dynamics of Nonholonomic Systems written by Juru Isaakovich Ne_mark and published by American Mathematical Soc.. This book was released on 2004-07-16 with total page 530 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this book is to give a comprehensive and systematic exposition of the mechanics of nonholonomic systems, including the kinematics and dynamics of nonholonomic systems with classical nonholonomic constraints, the theory of stability of nonholonomic systems, technical problems of the directional stability of rolling systems, and the general theory of electrical machines. The book contains a large number of examples and illustrations.
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
