Flexible Robot Dynamics and Controls

1. Front Matter

   Pages i-xix

   PDF

2. Introduction

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 1-11

3. Mathematical Preliminaries

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 13-91

4. Flexible Robot Dynamic Modeling

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 93-132

5. System Identification

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 133-159

6. Input Shaping for Path Planning

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 161-232

7. Linear Feedback Control

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 233-275

8. Nonlinear Systems and Sliding Mode Control

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 277-304

9. Adaptive Sliding Mode Control

   • Rush D. Robinett III, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema, Gordon G. Parker, David G. Wilson et al.

   Pages 305-324

10. Back Matter

    Pages 325-339

    PDF

This book is the result of over ten (10) years of research and development in flexible robots and structures at Sandia National Laboratories. The authors de­ cided to collect this wealth of knowledge into a set of viewgraphs in order to teach a graduate class in Flexible Robot Dynamics and Controls within the Mechanical En­ gineering Department at the University of New Mexico (UNM). These viewgraphs, encouragement from several students, and many late nights have produced a book that should provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals. The content of this book spans several disciplines including structural dynam­ ics, system identification, optimization, and linear, digital, and nonlinear control theory which are developed from several points of view including electrical, me­ chanical, and aerospace engineering as well as engineering mechanics. As a result, the authors believe that this book demonstrates the value of solid applied theory when developing hardware solutions to real world problems. The reader will find many real world applications in this book and will be shown the applicability of these techniques beyond flexible structures which, in turn, shows the value of mul­ tidisciplinary education and teaming.

• Matlab
• control
• feedback
• modeling
• nonlinear system
• optimization
• path planning
• robot
• robotics
• sliding mode control
• system identification

From the reviews:

"‘Flexible Robot Dynamics and Controls’ is the result of more than 10 years of research and development in flexible robots and structures at Sandia National Laboratories. … the aim of the author to provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals in the fields of flexible robot dynamics and controls has been achieved. … The manner of presentation seems to be comprehensive and a valuable addition to the literature for practitioners and researchers working in control of elastic structures." (Amit Ailon, Automatica, Vol. 41, 2005)

• Sandia National Laboratories, USA

  Rush D. Robinett, Clark R. Dohrmann, G. Richard Eisler, John T. Feddema

• Michigan Technological University, Houghton, USA

  Gordon G. Parker

• WAYA Research, Inc., Albuquerque, USA

  David G. Wilson

• S. Enterprises, Tacoma, USA

  Dennis Stokes

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