Several consistent solutions for cooperative system control have
recently been identified by the authors of the current monograph.
This was achieved by solving three separate tasks that are
essential for solving the problem of cooperative manipulation as a
whole. The first task is related to the understanding of the
physical nature of cooperative manipulation and finding a way for a
sufficiently exact characterization of cooperative system statics,
kinematics and dynamics. After successfully completing this task,
in the frame of the second task, the problem of coordinated motion
of the cooperative system is solved. Finally, as a solution to the
third task, the control laws of cooperative manipulation are
synthesized.
The starting point in dealing with the above three tasks of
cooperative manipulation was the assumption that the problem of
force uncertainty in cooperative manipulation can be resolved by
introducing elastic properties into the cooperative system, at
least in the part where force uncertainty appears. In static and
dynamic analysis of the elastic structure of cooperative systems
the finite element method is applied. In contrast to the procedure
used in the major part of the available literature where
deformation work is expressed by deviations from the unloaded state
of fixed elastic structure, in this monograph the deformation work
is expressed by internal forces as a function of the absolute
coordinates of contacts of mobile elastic structure. Coordinated
motion and control in cooperative manipulation are solved as the
problem of coordinated motion and control of a mobile elastic
structure, taking into account the specific features of cooperative
manipulation. Coordinated motion and control laws in cooperative
manipulation are synthesized on the basis of a non-linear model
where the problem of uncertainty is solved, which is not the case
in the available literature. Simple examples demonstrate the
consistent procedure of mathematical modeling and synthesis of
nominal coordinated motion, as well as control of the cooperative
system.
This book will be useful to a wide audience of engineers,
ranging from undergraduate and graduate students, new and advanced
academic researchers, to practitioners (mechanical and electrical
engineers, computer and system scientists). It is intended for
readers whose work involves manufacturing, industrial, robotics,
automation, computer and control engineering, and who wish to find
out about this important new technology and its potential
advantages for control engineering applications.
General
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