Motion Control of Functionally Related Systems

Preface 
List of Figures 
List of Tables 
Contributors 
Symbols 
1 Introduction 
1.1 Motivation 
1.2 Objectives of the Book 
2 Methods in Motion Control 5
2.1 General Structure of Control Systems 
2.2 Control of Functionally Related Systems 
2.3 Conclusion 
3 Design of Motion Control System for Functionally Related Systems 
3.1 Configuration Space Control
3.2 System Dynamics 
3.3 Dynamics of System with Tasks in Hierarchical Structure
3.4 Relationship between Constraints and Tasks
3.5 Control Synthesis
3.6 Conclusion
4 Functions in Motion Control Systems 
4.1 Selection of Function Vector and Selection of Function Vector Reference
4.2 Closed-Loop Dynamics in Configuration Space
4.3 Zero Dynamics
4.4 Conclusion
5 Motion Synchronization and Object Manipulation in 2-D Space
5.1 Experimental Setup
5.2 Direct Kinematics of Pantograph Manipulator
5.3 Dynamic Model of Pantograph Manipulator 
5.4 Motion Synchronization Task in 2-D Space
5.5 Object Manipulation Task in 2-D Space
5.6 Conclusion 
6 Formation Control
6.1 Low-Level Control Design 
6.2 High-Level Control Design
6.3 Simulation Results 
6.4 Conclusion
7 A New Driving Principle for Piezoelectric Walkers
7.1 Motor Description
7.2 Waveforms Definition based on Functions
7.3 Control Method
7.4 Experimental Results
7.5 Generalization of the Presented Approach 
7.6 Conclusion 
8 Illustrative Simulation Examples
8.1 Tasks Involving Planar Manipulators 
8.2 Bilateral System 
8.3 Task Involving Elbow Manipulators 
8.4 Conclusion
9 Conclusion
Bibliography
Index