Resonant Robotic Systems

by Babitskii, V. I.; Shipilov, A. V.; Birkett, Nicholas; Birkett, N.

• ISBN13: 9783540003342
• ISBN10: 3540003347
• Format: Hardcover
• Copyright: 2003-06-01
• Publisher: Springer Verlag

Summary

Especially designed as self-sustaining oscillating systems, resonant robotic systems use the natural modes of oscillation of electromechanical modules for their movements. In fact, manipulator systems built on these principles demonstrate record-breaking characteristics in performance. The authors summarize the results and experience of research on, and development of, resonant robotic systems. For the readers convenience, a presentation of design concepts is followed by solutions to new dynamical and control problems. The book is intended for designers, researchers and graduate students.

Author Biography

Dean Leftingwell is a software business development consultant and former Rational Software executive. He was cofounder and chief executive officer of Requisite, Inc.

Table of Contents

Preface	v
Contents	vii
Application of resonant systems
Load relief and balancing of robotic systems	1	(8)
Systems to relieve drives from inertia forces	9	(10)
Resonant robotic system components	19	(17)
Synthesis of spring accumulators	36	(17)
Design of resonant robotic systems	53	(16)
Dynamics of resonant robotic systems
Equations of motion for resonant robots	69	(15)
Resonant systems with ideal drives	84	(5)
Electromechanical drive for resonant systems	89	(4)
Optimal control of resonant systems
Statement of the optimisation problem. Efficiency criteria	93	(6)
Synthesis of optimal cyclic drive	99	(10)
Control of resonant drives with minimal energy consumption	109	(6)
Operating speed of cyclic resonant drives	115	(5)
Optimal control with minimal heat generation	120	(11)
Control to minimise cumulative angular momentum of the driver	131	(11)
Efficiency of control for resonant drives	142	(5)
Adaptive control of resonant robots
Introduction	147	(1)
Synthesis of regulator	148	(5)
Adaptive control	153	(4)
Simultaneous control of rotation and translation	157	(4)
Conclusion	161	(2)
Bibliography	163	(6)
Subject Index	169