Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems

Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems

Author: Michael Ruderman

Publisher:

Published: 2024

Total Pages: 0

ISBN-13: 9781032540702

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"Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers the theory behind kinetic friction, as well as compensation methods and practical solutions, and serves as a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. Following on from this, the book examines motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, it explains compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the book provides practical information which can be used in a wide variety of contexts not specific to particular systems or applications. The book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering"--


Book Synopsis Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems by : Michael Ruderman

Download or read book Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems written by Michael Ruderman and published by . This book was released on 2024 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers the theory behind kinetic friction, as well as compensation methods and practical solutions, and serves as a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. Following on from this, the book examines motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, it explains compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the book provides practical information which can be used in a wide variety of contexts not specific to particular systems or applications. The book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering"--

Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems

Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems

Author: Michael Ruderman

Publisher: CRC Press

Published: 2023-10-09

Total Pages: 95

ISBN-13: 1000993426

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Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers kinetic friction in a robotics, mechatronics, and control engineering context. Providing the theory behind kinetic friction, as well as compensation methods and practical solutions, the text is a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. This chapter explains friction interfaces and friction effects. Following from this, the next chapter looks at motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, the book looks at compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the text provides practical information that can be used in a wide variety of contexts not specific to particular systems or applications. This book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering.


Book Synopsis Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems by : Michael Ruderman

Download or read book Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems written by Michael Ruderman and published by CRC Press. This book was released on 2023-10-09 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Analysis and Compensation of Kinetic Friction in Robotic and Mechatronic Control Systems comprehensively covers kinetic friction in a robotics, mechatronics, and control engineering context. Providing the theory behind kinetic friction, as well as compensation methods and practical solutions, the text is a key companion to studying different control systems. Beginning with a clear introduction to the subject, the book goes on to include three main facets of kinetic friction, starting with phenomena of kinetic friction in drives. This chapter explains friction interfaces and friction effects. Following from this, the next chapter looks at motion dynamics with friction, which introduces dynamic system equations and focuses on both energy balance and dissipation. Finally, the book looks at compensation of friction in motion control, which summarises key compensation methods in controlled mechanical systems. Introducing various basic feedback control methods, including observer-based methods to compensate for kinetic friction, the text provides practical information that can be used in a wide variety of contexts not specific to particular systems or applications. This book will be of interest to students and industry workers in the field of robotics, mechanical systems and control engineering.

Dynamics and Control of Robotic Manipulators with Contact and Friction

Dynamics and Control of Robotic Manipulators with Contact and Friction

Author: Shiping Liu

Publisher: John Wiley & Sons

Published: 2019-02-11

Total Pages: 266

ISBN-13: 1119422485

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A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.


Book Synopsis Dynamics and Control of Robotic Manipulators with Contact and Friction by : Shiping Liu

Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

International Conference on Reliable Systems Engineering (ICoRSE) - 2023

International Conference on Reliable Systems Engineering (ICoRSE) - 2023

Author: Daniela Doina Cioboată

Publisher: Springer Nature

Published: 2023-09-04

Total Pages: 656

ISBN-13: 3031406281

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This book comprises state-of-the-art research results in the field of mechatronics and other closely related areas and that will be presented on occasion of the third “International Conference of Reliable Systems Engineering (ICoRSE 2023)” that will take place in Bucharest, Romania, between 07–08 September 2023. The first two ICoRSE editions brought together professors, Ph.D. students, and researchers in Europe, North America, and Asia, in countries such as: England, Albania, Austria, Bulgaria, Canada, Czech Republic, Germany, France, Italy, Portugal, Turkey, Ukraine, Uzbekistan, and Vietnam. In this year’s edition of the conference, we have benefitted from the inclusion in the scientific committee of the conference of professors in all of these countries, and we cover a wide variety of topics, such as: theoretical and applied mechanics; cyber-physical systems, robotics, smart bio-medical and bio-mechatronic systems, new and intelligent materials and structures, modelling and simulation in mechanics and mechatronics, smart mechatronic production and control system, optics, control systems, big data modelling, micro- and nanotechnology, automation, manufacturing optimization, and other. Since the book ́s chapters represent contributions of scholars who work in both state-funded institutions and in the business environment, they reflect a clear picture of the novelties attained in the leading-edge sciences that are in the scope of the conference. It is our belief that the book is useful to both students and researchers in all areas of engineering, who will each find at least one topic worthy of their interest in this work.


Book Synopsis International Conference on Reliable Systems Engineering (ICoRSE) - 2023 by : Daniela Doina Cioboată

Download or read book International Conference on Reliable Systems Engineering (ICoRSE) - 2023 written by Daniela Doina Cioboată and published by Springer Nature. This book was released on 2023-09-04 with total page 656 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises state-of-the-art research results in the field of mechatronics and other closely related areas and that will be presented on occasion of the third “International Conference of Reliable Systems Engineering (ICoRSE 2023)” that will take place in Bucharest, Romania, between 07–08 September 2023. The first two ICoRSE editions brought together professors, Ph.D. students, and researchers in Europe, North America, and Asia, in countries such as: England, Albania, Austria, Bulgaria, Canada, Czech Republic, Germany, France, Italy, Portugal, Turkey, Ukraine, Uzbekistan, and Vietnam. In this year’s edition of the conference, we have benefitted from the inclusion in the scientific committee of the conference of professors in all of these countries, and we cover a wide variety of topics, such as: theoretical and applied mechanics; cyber-physical systems, robotics, smart bio-medical and bio-mechatronic systems, new and intelligent materials and structures, modelling and simulation in mechanics and mechatronics, smart mechatronic production and control system, optics, control systems, big data modelling, micro- and nanotechnology, automation, manufacturing optimization, and other. Since the book ́s chapters represent contributions of scholars who work in both state-funded institutions and in the business environment, they reflect a clear picture of the novelties attained in the leading-edge sciences that are in the scope of the conference. It is our belief that the book is useful to both students and researchers in all areas of engineering, who will each find at least one topic worthy of their interest in this work.

Wearable Robotics in the Rehabilitation Continuum of Care: Assessment, Treatment and Home Assistance

Wearable Robotics in the Rehabilitation Continuum of Care: Assessment, Treatment and Home Assistance

Author: Emilio Trigili

Publisher: Frontiers Media SA

Published: 2023-11-14

Total Pages: 141

ISBN-13: 283253869X

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Book Synopsis Wearable Robotics in the Rehabilitation Continuum of Care: Assessment, Treatment and Home Assistance by : Emilio Trigili

Download or read book Wearable Robotics in the Rehabilitation Continuum of Care: Assessment, Treatment and Home Assistance written by Emilio Trigili and published by Frontiers Media SA. This book was released on 2023-11-14 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Control of Machines with Friction

Control of Machines with Friction

Author: Brian Armstrong-Hélouvry

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 180

ISBN-13: 1461539722

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It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is the discipline that concerns itself with friction, wear and lubrication. Tribology spans a great range of disciplines, from surface physics to lubrication chemistry and engineering, and comprises investigators in diverse specialities. The English language tribology literature now grows at a rate of some 700 articles per year. But for all of this activity, in the three years that I have been concerned with the control of machines with friction, I have but once met a fellow controls engineer who was aware that the field existed, this including many who were concerned with friction. In this vein I must confess that, before undertaking these investigations, I too was unaware that an active discipline of friction existed. The experience stands out as a mark of the specialization of our time. Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest is in dynamics, which is not the central interest of the tribologist. The tribologist is more often concerned with wear, with respect to which there has been enormous progress - witness the many mechanisms which we buy today that are lubricated once only, and that at the factory. Though a secondary interest, frictional dynamics are note forgotten by tribology.


Book Synopsis Control of Machines with Friction by : Brian Armstrong-Hélouvry

Download or read book Control of Machines with Friction written by Brian Armstrong-Hélouvry and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is my ambition in writing this book to bring tribology to the study of control of machines with friction. Tribology, from the greek for study of rubbing, is the discipline that concerns itself with friction, wear and lubrication. Tribology spans a great range of disciplines, from surface physics to lubrication chemistry and engineering, and comprises investigators in diverse specialities. The English language tribology literature now grows at a rate of some 700 articles per year. But for all of this activity, in the three years that I have been concerned with the control of machines with friction, I have but once met a fellow controls engineer who was aware that the field existed, this including many who were concerned with friction. In this vein I must confess that, before undertaking these investigations, I too was unaware that an active discipline of friction existed. The experience stands out as a mark of the specialization of our time. Within tribology, experimental and theoretical understanding of friction in lubricated machines is well developed. The controls engineer's interest is in dynamics, which is not the central interest of the tribologist. The tribologist is more often concerned with wear, with respect to which there has been enormous progress - witness the many mechanisms which we buy today that are lubricated once only, and that at the factory. Though a secondary interest, frictional dynamics are note forgotten by tribology.

Elastic Robot Joints

Elastic Robot Joints

Author: Michael Ruderman

Publisher:

Published: 2016-04-05

Total Pages: 224

ISBN-13: 9781498716574

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This book focuses on the modeling and control of elastic robot joints for which each axis of the robotic manipulator is controlled as a single-input-single-output (SISO) system with disturbances, otherwise known as independent joint control. It also shows how to account for joint elasticities in a centralized controller when treating the robotic manipulator as a coupled multiple-input-multiple-output (MIMO) system. The book analyzes modeling and control solutions, supported by specially elaborated simulation examples and an experimental case study.


Book Synopsis Elastic Robot Joints by : Michael Ruderman

Download or read book Elastic Robot Joints written by Michael Ruderman and published by . This book was released on 2016-04-05 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the modeling and control of elastic robot joints for which each axis of the robotic manipulator is controlled as a single-input-single-output (SISO) system with disturbances, otherwise known as independent joint control. It also shows how to account for joint elasticities in a centralized controller when treating the robotic manipulator as a coupled multiple-input-multiple-output (MIMO) system. The book analyzes modeling and control solutions, supported by specially elaborated simulation examples and an experimental case study.

Visual Control of Robots

Visual Control of Robots

Author: Peter I. Corke

Publisher: Taylor & Francis Group

Published: 1996

Total Pages: 392

ISBN-13:

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Book Synopsis Visual Control of Robots by : Peter I. Corke

Download or read book Visual Control of Robots written by Peter I. Corke and published by Taylor & Francis Group. This book was released on 1996 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Mechatronics Handbook - 2 Volume Set

The Mechatronics Handbook - 2 Volume Set

Author: Robert H. Bishop

Publisher: CRC Press

Published: 2018-10-08

Total Pages: 1416

ISBN-13: 1439833206

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The first comprehensive reference on mechatronics, The Mechatronics Handbook was quickly embraced as the gold standard in the field. From washing machines, to coffeemakers, to cell phones, to the ubiquitous PC in almost every household, what, these days, doesn’t take advantage of mechatronics in its design and function? In the scant five years since the initial publication of the handbook, the latest generation of smart products has made this even more obvious. Too much material to cover in a single volume Originally a single-volume reference, the handbook has grown along with the field. The need for easy access to new material on rapid changes in technology, especially in computers and software, has made the single volume format unwieldy. The second edition is offered as two easily digestible books, making the material not only more accessible, but also more focused. Completely revised and updated, Robert Bishop’s seminal work is still the most exhaustive, state-of-the-art treatment of the field available.


Book Synopsis The Mechatronics Handbook - 2 Volume Set by : Robert H. Bishop

Download or read book The Mechatronics Handbook - 2 Volume Set written by Robert H. Bishop and published by CRC Press. This book was released on 2018-10-08 with total page 1416 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first comprehensive reference on mechatronics, The Mechatronics Handbook was quickly embraced as the gold standard in the field. From washing machines, to coffeemakers, to cell phones, to the ubiquitous PC in almost every household, what, these days, doesn’t take advantage of mechatronics in its design and function? In the scant five years since the initial publication of the handbook, the latest generation of smart products has made this even more obvious. Too much material to cover in a single volume Originally a single-volume reference, the handbook has grown along with the field. The need for easy access to new material on rapid changes in technology, especially in computers and software, has made the single volume format unwieldy. The second edition is offered as two easily digestible books, making the material not only more accessible, but also more focused. Completely revised and updated, Robert Bishop’s seminal work is still the most exhaustive, state-of-the-art treatment of the field available.

Wearable Robots

Wearable Robots

Author: José L. Pons

Publisher: John Wiley & Sons

Published: 2008-04-15

Total Pages: 358

ISBN-13: 0470987650

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A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.


Book Synopsis Wearable Robots by : José L. Pons

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.