Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach

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" Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150715
Doc. No	:	ET22507
Main Entry	:	Zhiyong Wang
Title Proper	:	Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Closed kinematic chains (CKCs) are constrained multibody systems that contain closedkinematic loops. Nowadays, CKCs are used in a variety of applications ranging fromflight simulators to medical instruments, and are becoming increasingly popular in themachine-tool industry and haptic interfaces due to their better performance in terms ofaccuracy, rigidity and payload capacity as compared to open-chain mechanisms. Thisdocument intends to present a novel methodology for the modeling and control of generalCKCs. The dynamics of CKCs are characterized by index-3 differential algebraic equations(DAEs). Dynamic models in the form of DAEs pose difficulties in model-based controlbecause most existing control design techniques are devised for explicit state space models.The control methodology presented in this document is based on a singular perturbationformulation (SPF), which has attractive properties including the minimum dimension ofits slow dynamics and the large validity domain that contains the entire singularity-freeworkspace of the CKCs. The key issue of the model approximation error is addressed underdifferent stability conditions. Explicit error bounds are derived and sufficient conditions for....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45728.pdf
Title and statement of responsibility and	:	Modeling and Control of Closed Kinematic Chains: A Singular Perturbation Approach [Thesis]