Motion Control And Geometry PDF Download
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Author | : National Research Council |
Publisher | : National Academies Press |
Total Pages | : 81 |
Release | : 1997-06-07 |
Genre | : Mathematics |
ISBN | : 030905785X |
Download Motion, Control, and Geometry Book in PDF, ePub and Kindle
Some of the modem developments described in Motion, Control, and Geometry include the geometric control of robot motion and craft orientation, how high-power precision micromotors are engineered for less invasive surgery and self-focusing lens applications, what a mobile robot on a surface has in common with one moving in three dimensions, and how the motion-control problem is simplified by a coupled oscillator's geometric grouping of degrees of freedom and motion time scales. The four papers in these proceedings provide a view through the scientific portal of today's motion-control geometric research into tomorrow's technology. The mathematics needed to carry out this research is that of modem differential geometry, and the questions raised in the field of motion-control geometry go directly to the research frontier. Geometry is a mathematical area too often neglected nowadays in a student's education. This publication will help adjust the control initially imposed about 2,300 years ago on one kind of "motion"-that of students entering Plato's Academy, where the following caveat was inscribed above the doorway: "Let no one ignorant of geometry enter here." Readers of these chapters will gain an appreciation of modem geometry and how it continues to play a crucial role in the context of motion control in cutting-edge science and technology.
Author | : Francesco Bullo |
Publisher | : Springer |
Total Pages | : 727 |
Release | : 2019-06-12 |
Genre | : Science |
ISBN | : 1489972765 |
Download Geometric Control of Mechanical Systems Book in PDF, ePub and Kindle
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.
Author | : Velimir Jurdjevic |
Publisher | : Cambridge University Press |
Total Pages | : 516 |
Release | : 1997 |
Genre | : Mathematics |
ISBN | : 0521495024 |
Download Geometric Control Theory Book in PDF, ePub and Kindle
Geometric control theory is concerned with the evolution of systems subject to physical laws but having some degree of freedom through which motion is to be controlled. This book describes the mathematical theory inspired by the irreversible nature of time evolving events. The first part of the book deals with the issue of being able to steer the system from any point of departure to any desired destination. The second part deals with optimal control, the question of finding the best possible course. An overlap with mathematical physics is demonstrated by the Maximum principle, a fundamental principle of optimality arising from geometric control, which is applied to time-evolving systems governed by physics as well as to man-made systems governed by controls. Applications are drawn from geometry, mechanics, and control of dynamical systems. The geometric language in which the results are expressed allows clear visual interpretations and makes the book accessible to physicists and engineers as well as to mathematicians.
Author | : Jean-Paul Laumond |
Publisher | : Springer |
Total Pages | : 417 |
Release | : 2017-05-02 |
Genre | : Technology & Engineering |
ISBN | : 3319515470 |
Download Geometric and Numerical Foundations of Movements Book in PDF, ePub and Kindle
This book aims at gathering roboticists, control theorists, neuroscientists, and mathematicians, in order to promote a multidisciplinary research on movement analysis. It follows the workshop “ Geometric and Numerical Foundations of Movements ” held at LAAS-CNRS in Toulouse in November 2015[1]. Its objective is to lay the foundations for a mutual understanding that is essential for synergetic development in motion research. In particular, the book promotes applications to robotics --and control in general-- of new optimization techniques based on recent results from real algebraic geometry.
Author | : Frédéric Jean |
Publisher | : Springer |
Total Pages | : 112 |
Release | : 2014-07-17 |
Genre | : Science |
ISBN | : 3319086901 |
Download Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning Book in PDF, ePub and Kindle
Nonholonomic systems are control systems which depend linearly on the control. Their underlying geometry is the sub-Riemannian geometry, which plays for these systems the same role as Euclidean geometry does for linear systems. In particular the usual notions of approximations at the first order, that are essential for control purposes, have to be defined in terms of this geometry. The aim of these notes is to present these notions of approximation and their application to the motion planning problem for nonholonomic systems.
Author | : Donald D. Brown |
Publisher | : |
Total Pages | : 136 |
Release | : 1999 |
Genre | : Experimental automobiles |
ISBN | : |
Download Geometric Design and Motion Control of an Omni-directional Vehicle Book in PDF, ePub and Kindle
Develops and investigates the geometric design and motion control of an omni-directional vehicle with orbiting-rollered wheels. The research involved a geometric analysis of the hub, the roller supports, and the rollers of a wheel assembly. A tread analysis was conducted to understand the path of the contact point. The motion control equations are derived from a force control perspective, in order to present a less complicated approach than that of the velocity control perspective. Considerations are giving to the effect of variations in roller arrangements on the force control equation. A prototype omni-directional vehicle was constructed to verify the design and control algorithms.
Author | : Toshihiro Iwai |
Publisher | : Springer Nature |
Total Pages | : 193 |
Release | : 2021-04-23 |
Genre | : Mathematics |
ISBN | : 9811606889 |
Download Geometry, Mechanics, and Control in Action for the Falling Cat Book in PDF, ePub and Kindle
The falling cat is an interesting theme to pursue, in which geometry, mechanics, and control are in action together. As is well known, cats can almost always land on their feet when tossed into the air in an upside-down attitude. If cats are not given a non-vanishing angular momentum at an initial instant, they cannot rotate during their motion, and the motion they can make in the air is vibration only. However, cats accomplish a half turn without rotation when landing on their feet. In order to solve this apparent mystery, one needs to thoroughly understand rotations and vibrations. The connection theory in differential geometry can provide rigorous definitions of rotation and vibration for many-body systems. Deformable bodies of cats are not easy to treat mechanically. A feasible way to approach the question of the falling cat is to start with many-body systems and then proceed to rigid bodies and, further, to jointed rigid bodies, which can approximate the body of a cat. In this book, the connection theory is applied first to a many-body system to show that vibrational motions of the many-body system can result in rotations without performing rotational motions and then to the cat model consisting of jointed rigid bodies. On the basis of this geometric setting, mechanics of many-body systems and of jointed rigid bodies must be set up. In order to take into account the fact that cats can deform their bodies, three torque inputs which may give a twist to the cat model are applied as control inputs under the condition of the vanishing angular momentum. Then, a control is designed according to the port-controlled Hamiltonian method for the model cat to perform a half turn and to halt the motion upon landing. The book also gives a brief review of control systems through simple examples to explain the role of control inputs.
Author | : Yuly M. Pulyer |
Publisher | : Springer Science & Business Media |
Total Pages | : 479 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461229286 |
Download Electromagnetic Devices for Motion Control and Signal Processing Book in PDF, ePub and Kindle
This book is dedicated to electrical and mechanical engineers involved with the design of magnetic devices for motion con trol and other instrumentation that uses magnetic principles and technology. It can be of benefit to graduate and postgrad uate students to gain experience with electro-magnetic princi ples and also with different aspects of magnetic coupling mech anisms and magnetic circuitry analysis for the design of devices such as electrical servo motors, tachogenerators, encoders, gyro magnetic suspension systems, electro-magnetic strip lines, and other electro-magnetic instruments. The rapidly growing areas of production automation, robotics, precise micro-electronics, and pilot navigation place demands on motion control technology in terms of accuracy, reliability, cost effectiveness, and miniaturization. New ferromagnetic materials having quasi-linear and non-linear high-squareness characteris tics as well as high-energy permanent magnets, fine lithography, and high-t.emperature superconductivit.y (t.o be expected com mercially) motivate the implementation of new motion control components that exploit these new materials and technologies. This book presents classical miniature electrical machine de signs as well as several modifications in the geometry of mag netic couplings which lead to new motor and encoder design methodologies and other motion control devices such as new coil deposition patterns for incremental and absolute encoders, free spherical gyro suspension in a traveling magnetic field for navigation instrumentation, and magnetic strip lines in combi nation with resistive and capacitive media to generate a variety of low-noise LC filters and other signal processing devices.
Author | : Li Li |
Publisher | : Springer Science & Business Media |
Total Pages | : 458 |
Release | : 2007-11-24 |
Genre | : Technology & Engineering |
ISBN | : 0387444092 |
Download Advanced Motion Control and Sensing for Intelligent Vehicles Book in PDF, ePub and Kindle
This book provides the latest information in intelligent vehicle control and intelligent transportation. Detailed discussions of vehicle dynamics and ground-vehicle interactions are provided for the modeling, simulation and control of vehicles. It includes an extensive review of past and current research achievements in the intelligent vehicle motion control and sensory field, and the book provides a careful assessment of future developments.
Author | : Clifford R. Burrows |
Publisher | : John Wiley & Sons |
Total Pages | : 376 |
Release | : 2001-11-28 |
Genre | : Technology & Engineering |
ISBN | : 9781860583261 |
Download Power Transmission and Motion Control: PTMC 2001 Book in PDF, ePub and Kindle
Advanced in fluid power engineering motion and control Power Transmission and Motion Control is a collection of papers showcased at the PTMC 2001 conference at the University of Bath. Representing the work of researchers and industry leaders from around the world, this book features the latest developments in power transmission, with an emphasis on motion and control studies from the field of fluid power engineering. Insight into current projects on the forefront of technology and innovation provides an overview of the current state of the field while informing ongoing work and suggesting direction for future projects.