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008			210719s2021 flua o 000|0|eng|d
015			_aGBC1B9413 _2bnb
020			_z9780367653712 (hbk.) :
024	7		_a10.1201/9781003129165 _2doi
035			_a(Uk)020273753
037			_a9781000454888 _bIngram Content Group
040			_aStDuBDS _beng _erda _epn _cStDuBDS _dUk
042			_aukblsr
050			_aQA805 _b.G896 2022
082	0	4	_a629.892 _223
100	1		_aGu, Edward Y. L., _eauthor.
245	1	0	_aAdvanced dynamics modeling, duality and control of robotic systems / _cEdward Y.L. Gu.
250			_a1st edition published 2022
260			_aBoca Raton: _bCRC Press, _c2022.
300			_a306 Pages; _billustrations (black and white). _c24 cm.
521			_aChapter 1 Introduction; 1.1 Kinematics, Statics and Dynamics; 1.2 Dynamics Modeling and Model Compaction; 1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics; 1.4 Adaptive and Interactive Control of Robotic Systems; 1.5 The Organization of the Book Chapter 2 Fundamental Preliminaries; 2.1 Mathematical Preparations; 2.2 Robot Kinematics: Theories and Representations; 2.3 Robot Statics and Applications Chapter 3 Robot Dynamics Modeling; 3.1 The History of Robot Dynamic Formulations; 3.2 The Assumption of Rigid Body and Rigid Motion; 3.3 Kinetic Energy, _bPotential Energy and Lagrange Equations; 3.4 Dynamic Formulations for Robotic Systems Chapter 4 Advanced Dynamics Modeling; 4.1 The Configuration Manifold and Isometric Embedding; 4.2 How To Find an Isometric Embedding; 4.3 Applications to Robot Dynamics Modeling Chapter 5 The Principle of Duality in Kinematics and Dynamics; 5.1 Kinematic Structures for Stewart Platform; 5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots; 5.3 Duality Between Open Serial-Chain and Closed Parallel-Chain Systems; 5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots Chapter 6 Nonlinear Control Theories; 6.1 Lyapunov Stability Theories and Control Strategies; 6.2 Controllability and Observability; 6.3 Input-State and Input-Output State-Feedback Linearization; 6.4 Isometric Embedding Dynamic Model and Control; 6.5 Linearizable Subsystems and Internal Dynamics; 6.6 Control of a Minimum-Phase System; 6.7 Examples of
521			_aPartially Linearizable Systems with Internal Dynamics Chapter 7 Adaptive Control of Robotic Systems; 7.1 The Control Law and Adaptation Law; 7.2 Applications and Simulation/Animation Studies Chapter 8 Dynamics Modeling and Control of Cascaded Systems; 8.1 Dynamic Interactions Between Robot and Environment; 8.2 Cascaded DynamicsModels with Backstepping Control Recursion; 8.3 Modeling and InteractiveControl of Robot-Environment Systems
650		0	_aRobotics _xIndustrial applications.
650		0	_aSystems engineering.
650		0	_aAutomatic control.
776	0	8	_iPrint version : _z9780367653712
942			_2lcc _cBK
999			_c5792 _d5792