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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.
List of contents
1. Application of resonant systems.-
1.1 Load relief and balancing of robotic systems.-
1.2 Systems to relieve drives from inertia forces.-
1.3 Resonant robotic system components.-
1.4 Synthesis of spring accumulators.-
1.5 Design of resonant robotic systems.- 2. Dynamics of resonant robotic systems.-
2.1 Equations of motion for resonant robots.-
2.2 Resonant systems with ideal drives.-
2.3 Electromechanical drive for resonant systems.- 3. Optimal control of resonant systems.-
3.1 Statement of the optimisation problem. Efficiency criteria.-
3.2 Synthesis of optimal cyclic drive.-
3.3 Control of resonant drives with minimal energy consumption.-
3.4 Operating speed of cyclic resonant drives.-
3.5 Optimal control with minimal heat generation.-
3.6 Control to minimise cumulative angular momentum of the driver.-
3.7 Efficiency of control for resonant drives.- 4. Adaptive control of resonant robots.-
4.1 Introduction.-
4.2 Synthesis of regulator.-
4.3 Adaptive control.-
4.4 Simultaneous control of rotation and translation.-
4.5 Conclusion.
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.
