1st Edition
Motion Control of Functionally Related Systems
This book is concerned with the development of design techniques for controlling motion of mechanical systems which are employed to execute certain tasks acting collaboratively. The book introduces unified control design procedure for functionally related systems. The controllers for many different tasks in motion control can be successfully designed by applying the proposed simple procedure. The book gives an overview of the control methods appearing in the motion control area and the detailed design procedures for the class of systems that are required to execute certain task together. Tasks can generally be divided in their components, denoted as functions in the book. It is shown how dynamics of those tasks can be described. Based on the presented description, several control methods were discussed. Applicability of the introduced control design approach was demonstrated in subsequent chapters for various tasks.
List of Figures
List of Tables
Contributors
Symbols
1 Introduction
1.1 Motivation
1.2 Objectives of the Book
2 Methods in Motion Control 5
2.1 General Structure of Control Systems
2.2 Control of Functionally Related Systems
2.3 Conclusion
3 Design of Motion Control System for Functionally Related Systems
3.1 Configuration Space Control
3.2 System Dynamics
3.3 Dynamics of System with Tasks in Hierarchical Structure
3.4 Relationship between Constraints and Tasks
3.5 Control Synthesis
3.6 Conclusion
4 Functions in Motion Control Systems
4.1 Selection of Function Vector and Selection of Function Vector Reference
4.2 Closed-Loop Dynamics in Configuration Space
4.3 Zero Dynamics
4.4 Conclusion
5 Motion Synchronization and Object Manipulation in 2-D Space
5.1 Experimental Setup
5.2 Direct Kinematics of Pantograph Manipulator
5.3 Dynamic Model of Pantograph Manipulator
5.4 Motion Synchronization Task in 2-D Space
5.5 Object Manipulation Task in 2-D Space
5.6 Conclusion
6 Formation Control
6.1 Low-Level Control Design
6.2 High-Level Control Design
6.3 Simulation Results
6.4 Conclusion
7 A New Driving Principle for Piezoelectric Walkers
7.1 Motor Description
7.2 Waveforms Definition based on Functions
7.3 Control Method
7.4 Experimental Results
7.5 Generalization of the Presented Approach
7.6 Conclusion
8 Illustrative Simulation Examples
8.1 Tasks Involving Planar Manipulators
8.2 Bilateral System
8.3 Task Involving Elbow Manipulators
8.4 Conclusion
9 Conclusion
Bibliography
Index
Biography
Tarik Uzunović is an Assistant Professor with the Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina. His research interests include motion control, robotics, and mechatronics.
Asif Šabanović, Emeritus Professor and a member of Academy of Sciences and Arts of Bosnia and Herzegovina, was a Visiting Researcher with the Institute of Control Sciences, Moscow, Russia, Visiting Professor with the California Institute of Technology - CALTECH, Pasadena, Hitachi Chair Professor with Keio University, Yokohama, Japan, Full Professor with Yamaguchi University, Ube, Japan, Head of CAD/CAM and Robotics Department at Tubitak - Marmara Research Centre, Istanbul.
