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Automation for robotics / Luc Jaulin

By: Material type: TextTextPublication details: London, United Kingdom : ISTE Ltd, c2015Description: xii, 238 pages : illustrations ; 25 cmISBN:
  • 9781848217980
Subject(s): LOC classification:
  • TJ 211 .J38 2015
Contents:
INTRODUCTION vii CHAPTER 1. MODELING 1 1.1. Linear systems 1 1.2. Mechanical systems 2 1.3. Servomotors 4 1.4. Exercises 4 1.5. Solutions 21 CHAPTER 2. SIMULATION 47 2.1. Concept of vector field 47 2.2. Graphical representation 49 2.2.1. Patterns 50 2.2.2. Rotation matrix 50 2.2.3. Homogeneous coordinates 52 2.3. Simulation 54 2.3.1. Euler s method 54 2.3.2. Runge Kutta method 55 2.3.3. Taylor s method 56 2.4. Exercises 56 2.5. Solutions 67 CHAPTER 3. LINEAR SYSTEMS 85 3.1. Stability 85 3.2. Laplace transform 87 3.2.1. Laplace variable 87 3.2.2. Transfer function 88 3.2.3. Laplace transform 88 3.2.4. Input output relation 90 3.3. Relationship between state and transfer representations 90 3.4. Exercises 92 3.5. Solutions 103 CHAPTER 4. LINEAR CONTROL 127 4.1. Controllability and observability 128 4.2. State feedback control 129 4.3. Output feedback control 130 4.4. Summary 133 4.5. Exercises 134 4.6. Solutions 150 CHAPTER 5. LINEARIZED CONTROL 185 5.1. Linearization 185 5.1.1. Linearization of a function 185 5.1.2. Linearization of a dynamic system 187 5.1.3. Linearization around an operating point 187 5.2. Stabilization of a nonlinear system 188 5.3. Exercises 191 5.4. Solutions 207 BIBLIOGRAPHY 235 INDEX 237
Summary: In order to enable a better understanding of the key concepts of automation, this book develops the fundamental aspects of the field while also proposing numerous concrete exercises and their solutions.
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Item type Current library Home library Collection Call number Copy number Status Date due Barcode
Books Books National University - Manila LRC - Main General Circulation Mechanical Engineering GC TJ 211 .J38 2015 (Browse shelf(Opens below)) c.1 Available NULIB000014410

Includes bibliographical references (pages 235-236) and index.

INTRODUCTION vii CHAPTER 1. MODELING 1 1.1. Linear systems 1 1.2. Mechanical systems 2 1.3. Servomotors 4 1.4. Exercises 4 1.5. Solutions 21 CHAPTER 2. SIMULATION 47 2.1. Concept of vector field 47 2.2. Graphical representation 49 2.2.1. Patterns 50 2.2.2. Rotation matrix 50 2.2.3. Homogeneous coordinates 52 2.3. Simulation 54 2.3.1. Euler s method 54 2.3.2. Runge Kutta method 55 2.3.3. Taylor s method 56 2.4. Exercises 56 2.5. Solutions 67 CHAPTER 3. LINEAR SYSTEMS 85 3.1. Stability 85 3.2. Laplace transform 87 3.2.1. Laplace variable 87 3.2.2. Transfer function 88 3.2.3. Laplace transform 88 3.2.4. Input output relation 90 3.3. Relationship between state and transfer representations 90 3.4. Exercises 92 3.5. Solutions 103 CHAPTER 4. LINEAR CONTROL 127 4.1. Controllability and observability 128 4.2. State feedback control 129 4.3. Output feedback control 130 4.4. Summary 133 4.5. Exercises 134 4.6. Solutions 150 CHAPTER 5. LINEARIZED CONTROL 185 5.1. Linearization 185 5.1.1. Linearization of a function 185 5.1.2. Linearization of a dynamic system 187 5.1.3. Linearization around an operating point 187 5.2. Stabilization of a nonlinear system 188 5.3. Exercises 191 5.4. Solutions 207 BIBLIOGRAPHY 235 INDEX 237

In order to enable a better understanding of the key concepts of automation, this book develops the fundamental aspects of the field while also proposing numerous concrete exercises and their solutions.

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