Andrew Kurdila - Dynamics and Control of Robotic Systems

1. Chapter 2
2. Chapter 3
3. Chapter 5
4. Chapter 7

1. Chapter 1
2. Chapter 2
3. Chapter 3
4. Chapter 4
5. Chapter 5
6. Chapter 6
7. Chapter 7
8. Appendix

Andrew J. Kurdila and Pinhas Ben-Tzvi

Virginia Tech
Virginia
USA

This edition first published 2020

2020 John Wiley & Sons Ltd

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The right of Andrew J. Kurdila and Pinhas BenTzvi to be identified as the authors of this work has been asserted in accordance with law.

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Library of Congress CataloginginPublication Data

Names: Kurdila, Andrew J., author. | Ben-Tzvi, Pinhas, 1973 author.

Title: Dynamics and control of robotic systems / Andrew J. Kurdila, Virginia

Tech, Virginia, USA, Pinhas BenTzvi, Virginia Tech, Virginia, USA.

Description: Hoboken, NJ : Wiley, 2020. | Includes bibliographical references

and index. |

Identifiers: LCCN 2019007284 (print) | LCCN 2019009469 (ebook) | ISBN

9781119524908 (Adobe PDF) | ISBN 9781119524953 (ePub) | ISBN 9781119524830

(hardback)

Subjects: LCSH: Robots-Dynamics. | RobotsControl systems.

Classification: LCC TJ211.4 (ebook) | LCC TJ211.4 .K87 2020 (print) | DDC

629.8/92dc23

LC record available at https://lccn.loc.gov/2019007284

Cover Design: Wiley

Cover Image: Pinhas BenTzvi

This book is dedicated to Patrick, Hannah

and Justin, and to Timor, Jonathan, Daniel,

and Sara

The goal of this book is to provide a modern, systematic, and thorough theoretical background for the study of the dynamics and control of robotic systems. The presentation of the material emphasizes the underlying principles of dynamics and control that can be employed in a host of contemporary applications. Consequently, at its core, the goal of this book is quite ambitious. Not only do we seek to give a detailed presentation of the precepts of robotics, but also we aim to provide methodologies that are applicable to realistic robotic systems. These robotic systems include the following well known examples: classical industrial manipulators, humanoid robots, autonomous ground vehicles, autonomous air vehicles, autonomous marine vehicles, robotic surgical assistants, space vehicles, and computer controlled milling machines. Modern robotic systems are inherently complex, and the representation of their dynamics and the synthesis of their control can be unavoidably complicated.

One of the principal reasons for creating this book has been to show how modern computational and analytical tools expand and enhance our ability to address problems in robotics. Even a few years ago, the complexity of modern robotic systems rendered intractable the solution by hand of all but the most simple examples. The formulation of dynamic models of common robotic systems was once too tedious for the classroom. The advent of symbolic, numeric, and general purpose computational engines over the past few decades is particularly relevant to the problems addressed in this book. With higher level computing environments such as MATLAB, Mathematica, Maple and similar programs, the envelope of problems that can be addressed by undergraduate and graduate students has expanded dramatically. These tools enable students to focus on principles and theory, and free them from tedious exercises in algebraic gymnastics that merely distract from the technical foundations. It is critical, in our opinion, that the student concentrates on the systematic application of the underlying principles.

This text evolved from class notes and problem assignments for courses in dynamics, control, and robotics taught by the authors over a period of several years. These courses have been taught at several top tier universities in the United States, and our approach in presenting the material has continuously evolved during this time. This material is suitable for a two semester sequence in dynamics, control, and robotics at the senior undergraduate or first year graduate student level. A course intended for the senior year of an undergraduate curriculum can focus on the fundamentals of kinematics and dynamics as applied to robotic systems. This first semester can be built primarily from topics extracted from Chapters 2, 3, and 4, and to a lesser degree from Chapter 5. A second semester can concentrate on the techniques of analytical mechanics in Chapter 5 and control theory in Chapter 6. Specific advanced topics such as the recursive order