122 black & white illustrations, 28 colour illustrations, 17 black & white tables
Table Of Contents
Lagrangian Methods & Robot Dynamics Introduction Constraining kinematic chains: Manipulators Manipulator Kinematics: the Denavit & Hartenberg (DH) Parameters Velocity Kinematics: Jacobians Degrees of Freedom: The Gruebler criterion and Kutzbach's modification Lagangian Formulation of Dynamics The Principle of Virtual Work Principle of Least Action: Hamilton's Principle Generalised Co-ordinates and Holonomic Dynamic Systems The Euler-Lagrange Equations Application to Manipulators: Parallel and Serial Manipulators Cartesian and spherical manipulators Planar manipulators: Two link Planar Manipulators The SCARA manipulator Two link manipulator on a moving base Two link manipulator with extendable arms The multi-link serial manipulator Rotating Planar Manipulators The PUMA 560 manipulator Spatial Manipulators Manipulator Dynamics in terms of DH Parameters Application to Mobile vehicles Exercises References Unmanned Aerial Vehicles (UAV) Dynamics & Lagrangian Methods Flight Dynamics of UAVs The Newton-Euler Equations of rigid UAVs The Lagrangian & Hamiltonian Formulations Euler-Lagrange Equations of Motion in Quasi-Coordinates The Complete Equations of Motion of UAV Exercises References Feedback Linearisation & Decoupling Lie derivatives, Lie Brackets & Lie Algebras Pure Feedback Form Relative Degree Feedback Linearisation: Pure feedback System Input-Output Feedback Linearisation Partial Feedback Linearisation Input to State Feedback Linearisation Examples Feedback Decoupling Examples Dynamic Feedback Linearisation Example Partial Feedback Linearisation of the ACROBOT Exercises References Linear and Phase Plane Analysis of Stability Introduction The Phase Plane Equilibrium and Stability: Lyapunov's first method Regular and Singular points The Saddle Sinks: Focus, node, improper node and spiral The Centre Sources The limit cycle Stability analysis of non-linear systems with linear damping Response of non-linear systems: Geometric and Algebraic approaches Non-numerical geometric methods Numerically oriented geometric methods The method of Perturbation Variation of parameters Harmonic balance and describing functions Examples of Non-linear Systems and their analysis Undamped Free Vibrations of a Simple Pendulum The Duffing Oscillator The Van der Pol Oscillator Features of Non-linear System Responses Superharmonic response Jump Phenomenon Subharmonic resonance Combination resonance Self-excited oscillations Exercises References Robot & UAV Control: An Overview Introduction Controlling Robot Manipulators Model Based and Biomimetic Methods of Control Artificial Neural Networks Boolean Logic and its Quantification Fuzzy Sets Operations on Fuzzy Sets Relations between Fuzzy Sets Fuzzy Logic and the implication of a rule Fuzzy Reasoning Fuzzy Logic Control A typical application Exercises References Stability Stability Concepts Input/Output Stability Bounded input bounded output (BIBO) stability L2 stability / Lp stability Internal stability: Input to state Stability Advanced Stability Concepts Passive Systems Linear Systems: The concept of Passivity and positive-real systems Nonlinear Systems: The Concepts of Hyperstability Lure's Problem Kalman-Yakubovich (KY) and other related lemmas Small-Gain Theorem Total Stability Theorem Exercises References Lyapunov Stability Lyapunov, Asymptotic and Exponential Stability Local & Global stability Lyapunov's First & Second Methods Lyapunov's Direct Method: Example Positive Definite & Lyapunov Functions Lyapunov's Stability Theorem La Salle's Invariant Set Theorems Linear Time Invariant (LTI) systems Barbalat's Lemm
Dr. Ranjan Vepa earned his PhD in applied mechanics from Stanford University, California. He currently serves as a lecturer in the School of Engineering and Material Science, Queen Mary University of London, where he has also been the programme director of the Avionics Programme since 2001.. Dr. Vepa is a member of the Royal Aeronautical Society, London; the Institution of Electrical and Electronic Engineers (IEEE), New York; a fellow of the Higher Education Academy; a member of the Royal Institute of Navigation, London; and a chartered engineer.