Advanced Dynamics Modeling, Duality and Control of Robotic Systems (Hardcover, 1)

Chapter 1 Introduction 1.1 Kinematics, Statics and Dynamics1.2 Dynamics Modeling and Model Compaction1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics1.4 Adaptive and Interactive Control of Robotic Systems1.5 The Organization of the Book Chapter 2 Fundamental Preliminaries2.1 Mathematical Preparations2.2 Robot Kinematics: Theories and Representations2.3 Robot Statics and Applications Chapter 3 Robot Dynamics Modeling3.1 The History of Robot Dynamic Formulations3.2 The Assumption of Rigid Body and Rigid Motion3.3 Kinetic Energy, Potential Energy and Lagrange Equations3.4 Dynamic Formulations for Robotic Systems Chapter 4 Advanced Dynamics Modeling4.1 The Configuration Manifold and Isometric Embedding4.2 How To Find an Isometric Embedding4.3 Applications to Robot Dynamics Modeling Chapter 5 The Principle of Duality in Kinematics and Dynamics5.1 Kinematic Structures for Stewart Platform5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots5.3 Duality Between Open Serial-Chain and Closed Parallel-Chain Systems5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots Chapter 6 Nonlinear Control Theories6.1 Lyapunov Stability Theories and Control Strategies6.2 Controllability and Observability6.3 Input-State and Input-Output State-Feedback Linearization6.4 Isometric Embedding Dynamic Model and Control6.5 Linearizable Subsystems and Internal Dynamics6.6 Control of a Minimum-Phase System6.7 Examples of Partially Linearizable Systems with Internal Dynamics Chapter 7 Adaptive Control of Robotic Systems7.1 The Control Law and Adaptation Law7.2 Applications and Simulation/Animation Studies Chapter 8 Dynamics Modeling and Control of Cascaded Systems8.1 Dynamic Interactions Between Robot and Environment8.2 Cascaded DynamicsModels with Backstepping Control Recursion8.3 Modeling and InteractiveControl of Robot-Environment Systems