| Preface |
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xi | |
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xiii | |
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1 | (6) |
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1.1 Kinematics, Statics and Dynamics |
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1 | (1) |
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1.2 Dynamics Modeling and Model Compaction |
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2 | (1) |
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1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics |
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3 | (1) |
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1.4 Adaptive and Interactive Control of Robotic Systems |
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4 | (1) |
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1.5 The Organization of the Book |
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4 | (3) |
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Chapter 2 Fundamental Preliminaries |
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7 | (72) |
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2.1 Mathematical Preparations |
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7 | (35) |
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2.1.1 Lie Groups, Lie Algebras and Their Topological Structures |
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7 | (7) |
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2.1.2 Manifolds, Riemannian Metrics, and Embeddings |
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14 | (10) |
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2.1.3 Differential Connections and Geodesic Equations |
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24 | (6) |
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2.1.4 Dual Numbers, Dual Vectors and Dual Matrices |
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30 | (12) |
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2.2 Robot Kinematics: Theories and Representations |
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42 | (28) |
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2.2.1 Unique Representations of Position and Orientation |
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42 | (3) |
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2.2.2 The Rotation Speed and Angular Velocity |
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45 | (6) |
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2.2.3 The Denavit-Hartenberg (D-H) Convention |
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51 | (9) |
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2.2.4 Cartesian Motion vs. Differential Motion |
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60 | (5) |
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2.2.5 Kinematic Singularity and Redundancy |
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65 | (5) |
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2.3 Robot Statics and Applications |
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70 | (9) |
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2.3.1 Twist, Wrench and Statics of Robotic Systems |
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70 | (1) |
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2.3.2 Static Joint Torque Distributions |
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71 | (2) |
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2.3.3 Manipulability and Posture Optimization |
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73 | (6) |
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Chapter 3 Robot Dynamics Modeling |
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79 | (40) |
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3.1 The History of Robot Dynamic Formulations |
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79 | (1) |
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3.2 The Assumption of Rigid Body and Rigid Motion |
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80 | (5) |
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3.2.1 The Rigid Body and Rigid Motion |
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80 | (4) |
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3.2.2 Kinematic Parameters vs. Dynamic Parameters |
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84 | (1) |
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3.3 Kinetic Energy, Potential Energy and Lagrange Equations |
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85 | (14) |
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3.3.1 Determination of Kinetic Energy |
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85 | (9) |
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3.3.2 Potential Energy Due to Gravity and Other Forms |
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94 | (3) |
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3.3.3 Consistency between the Lagrange and Geodesic Equations |
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97 | (2) |
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3.4 Dynamic Formulations for Robotic Systems |
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99 | (20) |
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3.4.1 Determination of Centrifugal and Coriolis Terms |
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99 | (4) |
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3.4.2 Dynamics Modeling for a Variety of Robotic Systems |
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103 | (16) |
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Chapter 4 Advanced Dynamics Modeling |
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119 | (26) |
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4.1 The Configuration Manifold and Isometric Embedding |
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119 | (3) |
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4.2 How to Find an Isometric Embedding |
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122 | (12) |
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4.3 Applications to Robot Dynamics Modeling |
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134 | (11) |
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Chapter 5 The Principle of Duality in Kinematics and Dynamics |
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145 | (42) |
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5.1 Kinematic Structures for Stewart Platform |
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145 | (5) |
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5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots |
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150 | (9) |
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5.3 Duality between Open Serial-Chain and Closed Parallel-Chain Systems |
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159 | (5) |
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5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots |
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164 | (23) |
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5.4.1 The Stewart Platform |
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165 | (1) |
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5.4.2 The 3D 3-Leg Hybrid-Chain Robotic System |
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166 | (8) |
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5.4.3 The Delta Closed Hybrid-Chain Robot |
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174 | (5) |
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5.4.4 Dynamics Modeling for Legged Robots |
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179 | (5) |
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5.4.5 A Summary of Dynamics Modeling |
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184 | (3) |
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Chapter 6 Nonlinear Control Theories |
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187 | (74) |
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6.1 Lyapunov Stability Theories and Control Strategies |
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187 | (18) |
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6.1.1 The Local Linearization Procedure |
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197 | (1) |
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6.1.2 Indirect Method of Systems Stability Test |
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198 | (2) |
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6.1.3 A Theorem for Determination of System Instability |
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200 | (1) |
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6.1.4 Stabilization of Nonlinear Control Systems |
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201 | (4) |
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6.2 Controllability and Observability |
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205 | (6) |
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6.2.1 Control Lie Algebra and Controllability |
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206 | (2) |
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6.2.2 Observation Space and Observability |
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208 | (3) |
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6.3 Input-State and Input-Output State-Feedback Linearization |
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211 | (20) |
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6.3.1 The Input-State Linearization Procedure |
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213 | (5) |
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6.3.2 Input-Output Mapping, Relative Degrees and Systems Invertibility |
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218 | (6) |
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6.3.3 Systems Invertibility and Applications |
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224 | (2) |
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6.3.4 The Input-Output Linearization Procedure |
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226 | (5) |
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6.4 Isometric Embedding Dynamic Model and Control |
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231 | (3) |
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6.5 Linearizable Subsystems and Internal Dynamics |
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234 | (4) |
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6.6 Control of a Minimum-Phase System |
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238 | (3) |
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6.7 Examples of Partially Linearizable Systems with Internal Dynamics |
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241 | (20) |
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Chapter 7 Adaptive Control of Robotic Systems |
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261 | (20) |
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7.1 The Control Law and Adaptation Law |
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261 | (9) |
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7.2 Applications and Simulation/Animation Studies |
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270 | (11) |
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Chapter 8 Dynamics Modeling and Control of Cascaded Systems |
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281 | (22) |
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8.1 Dynamic Interactions between Robot and Environment |
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281 | (3) |
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8.2 Cascaded Dynamics Models with Backstepping Control Recursion |
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284 | (12) |
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8.2.1 Control Design with the Lyapunov Direct Method |
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284 | (5) |
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8.2.2 Backstepping Recursions in Control Design |
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289 | (7) |
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8.3 Modeling and Interactive Control of Robot-Environment Systems |
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296 | (7) |
| Index |
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303 | |
Rohkem infot Taylor & Francis e-raamatute kohta