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This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.
The ?eld of robotics continues to ?ourish and develop. In common with general scienti?c investigation, new ideas and implementations emerge quite spontaneously and these are discussed, used, discarded or subsumed at c- ferences, in the reference journals, as well as through the Internet. After a little more maturity has been acquired by the new concepts, then archival publication as a scienti?c or engineering monograph may occur. The goal of the Springer Tracts in Advanced Robotics is to publish new developments and advances in the ?elds of robotics research – rapidly and informally but with a high quality. It is hoped that prospective authors will welcome the opportunity to publish a structured presentation of some of the emerging robotics methodologies and technologies. The edited volume by Antonio Bicchi, Henrik Christensen and Domenico Prattichizzo is the outcome of the second edition of a workshop jointly sponsored by the IEEE Control Systems Society and the IEEE Robotics and Automation Society. Noticeably, the previous volume was published in the Springer Lecture Notes on Control and Information Sciences. The authors are recognised as leading scholars internationally. A n- ber of challenging control problems on the forefront of today’s research in robotics and automation are covered, with special emphasis on vision, sensory-feedback control, human-centered robotics, manipulation, planning, ?exible and cooperative robots, assembly systems.
The authors here provide a detailed treatment of the design of robust adaptive controllers for nonlinear systems with uncertainties. They employ a new tool based on the ideas of system immersion and manifold invariance. New algorithms are delivered for the construction of robust asymptotically-stabilizing and adaptive control laws for nonlinear systems. The methods proposed lead to modular schemes that are easier to tune than their counterparts obtained from Lyapunov redesign.
As one of the oldest natural sciences, mechanics occupies a certain pioneering role in determining the development of exact sciences through its interaction with mathematics. As a matter of fact, there is hardly an area in mathematics that hasn't found an application of some form in mechanics. It is thus almost inevitable that theoretical methods in mechanics are highly developed and laid out on different levels of abstraction. With the spread of digital processors this goes as far as the implementation in commercial computer codes, where the user is merely con fronted on the surface with the processes that run in the background, i. e. mechan ics as such: in teaching and research, as well as in the context of industry, me chanics is much more, and must remain much more than the mere production of data with the help of a processor. Mechanics, as it is talked about here, tradition ally includes a wide spectrum, ranging from applied mechanics, analytical and technical mechanics to modeling. and experimental mechanics, as well as technical realization. It also includes the subdisciplines of rigid body mechanics, continuum mechanics, or fluid mechanics, to mention only a few. One of the fundamental and most important concepts used by nearly all natural sciences is the concept of linearization, which assumes the differentiability of mappings. As a matter of fact, all of classical mechanics is based on the avail ability of this quality.
A survey of how engineering techniques from control and systems theory can be used to help biologists understand the behavior of cellular systems.
System-Level Synthesis deals with the concurrent design of electronic applications, including both hardware and software. The issue has become the bottleneck in the design of electronic systems, including both hardware and software, in several major industrial fields, including telecommunications, automotive and aerospace engineering. The major difficulty with the subject is that it demands contributions from several research fields, including system specification, system architecture, hardware design, and software design. Most existing book cover well only a few aspects of system-level synthesis. The present volume presents a comprehensive discussion of all the aspects of system-level synthesis. Each topic is covered by a contribution written by an international authority on the subject.
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.
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
Vibration Testing and System Dynamics is an interdisciplinary journal serving as the forum for promoting dialogues among engineering practitioners and research scholars. As the platform for facilitating the synergy of system dynamics, testing, design, modeling, and education, the journal publishes high-quality, original articles in the theory and applications of dynamical system testing. The aim of the journal is to stimulate more research interest in and attention for the interaction of theory, design, and application in dynamic testing. Manuscripts reporting novel methodology design for modelling and testing complex dynamical systems with nonlinearity are solicited. Papers on applying modern theory of dynamics to real-world issues in all areas of physical science and description of numerical investigation are equally encouraged. Progress made in the following topics are of interest, but not limited, to the journal: Vibration testing and designDynamical systems and controlTesting instrumentation and controlComplex system dynamics in engineeringDynamic failure and fatigue theoryChemical dynamics and bio-systemsFluid dynamics and combustionPattern dynamicsNetwork dynamicsPlasma physics and plasma dynamicsControl signal synchronization and trackingBio-mechanical systems and devicesStructural and multi-body dynamicsFlow or heat-induced vibrationMass and energy transfer dynamicsWave propagation and testing