This monograph represents the second book of the series entitled: "SCI­ ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de­ tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con­ trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con­ trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu­ lator design in thfil broader sense of the word. At this point, the au­ thors would like to present some concepts which were their guidelines in preparing this text.

Inhalt

General Principles of Control Synthesis of Robots and Manipulators.- - system class definition.- Classification of robots.- Requirements of robot control synthesis.- Brief survey of results from the domain of robot control synthesis.- Principles of robot control synthesis.- References.- 1 Dynamics of Manipulators.- 1.1. Method for the construction of dynamic equation based on the basic theorems of mechanics.- 1.1.1. Mechanism parameters.- 1.1.2. Mechanism "assembly".- 1.1.3. Determining the position of the open chain.- 1.1.4. Determining velocities and accelerations.- 1.1.5. Determining the forces and moments of inertial forces.- 1.1.6. Kinetostatic procedure for obtaining differential motion equations.- 1.2. The complete dynamical model of manipulation systems.- 1.3. Computer oriented method for linearization of dynamic models of open kinematic chains.- References.- 2 Synthesis of Manipulation Control.- 2.1. Introduction.- 2.2. Definition of the control task.- 2.3. Stage of nominal dynamics.- 2.4. Stage of perturbed dynamics.- 2.5. Linear optimal regulator.- 2.6. Synthesis of decentralized and global control-stage of perturbed dynamics.- 2.6.1. Local control synthesis.- 2.6.2. Stability.- 2.6.3. Suboptimality.- 2.6.4. Global control synthesis.- 2.6.5. "Distribution of the model" between local subsystems and coupling.- 2.6.6. Decoupled control` of manipulators based on asymptotic regulator properties.- 2.7. Discrete-time control synthesis.- 2.7.1. Linear optimal regulator synthesis in a discrete-time domain.- 2.7.2. Synthesis of decentralized regulator and observer in the discrete-time domain.- 2.8. An interactive computer-oriented algorithm for control synthesis.- 2.9. Conclusion.- References.- Appendix 2. A. Suboptimality of Global Control.- Appendix 2. B. Analysis of »Distribution of the Model« Between Subsystems and Coupling.- Reference.- Appendix 2. C. Stability Analysis of System with Decentralized Regulator and Observer.- References.- 3 Control Synthesis for Typical Manipulations Tasks.- 3.1. Introduction.- 3.2. Task of transferring the manipulator tip along a desired trajectory.- 3.2.1. Nominal dynamic synthesis.- 3.2.2. Linear optimal regulator - control synthesis at the stage of perturbed dynamics.- 3.2.3. Decentralized control - control synthesis at the stage of perturbed dynamics.- 3.2.4. Asymptotic regulator - control synthesis at the stage of perturbed dynamics.- 3.3. Transfer of working object with desired orientation along prescribed trajectory.- 3.3.1. Nominal dynamics synthesis.- 3.3.2. Decentralized control - control synthesis at the stage of perturbed dynamics.- 3.3.3. Suboptimality analysis of decentralized control and various global control laws.- 3.3.4. Synthesis of decentralized observer.- 3.4. Control of orientation of gripper using load-feedback.- 3.5. Assembly process.- 3.5.1. Analysis of forces in assembly process.- 3.5.2. Synthesis of control of manipulator in assembly process.- 3.6. Multiprocessor realization of decentralized and global control.- 3.7. Conclusion.- References.- Appendix 3. A. Simulation Algorithm for Assembly.