Advanced Dynamics Modeling, Duality and Control of Robotic Systems

Edward Y.L. Gu (Oakland University, USA.)

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English

CRC Press
24 September 2021

Automatic control engineering; Robotics

This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures.

In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well.

It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.

By: Edward Y.L. Gu (Oakland University USA.)
Imprint: CRC Press
Country of Publication: United Kingdom
Dimensions: Height: 234mm, Width: 156mm,
Weight: 453g
ISBN: 9780367653712
ISBN 10: 0367653710
Pages: 306
Publication Date: 24 September 2021
Audience: Professional and scholarly , General/trade , Undergraduate , ELT Advanced
Format: Hardback
Publisher's Status: Active

1. Introduction. 2. Fundamental Preliminaries. 3. Robot Dynamics Modeling. 4. Advanced Dynamics Modeling. 5. The Principle of Duality in Kinematics and Dynamics. 6. Nonlinear Control Theories. 7. Adaptive Control of Robotic Systems. 8. Dynamics Modeling and Control of Cascaded Systems.

Edward Y.L. Gu is currently a Professor with the Department of Electrical and Computer Engineering (ECE), Oakland University, Michigan. He co-founded the OU-Chrysler Robotics and Controls Lab at OU ten years ago.