Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition): Franklin ... This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems: Gene F. Franklin ... Digital Control of Dynamic Systems, 2nd Edition. Gene F. Franklin, Stanford University. J. David Powell, Stanford University Digital Control of Dynamic Systems, 2nd Edition Pearson This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. MATLAB statements and problems are thoroughly and carefully integrated throughout the book to offer readers a complete design picture. Digital Control of Dynamic Systems, 3rd Edition ... Digital control of dynamic systems | Gene F. Franklin, J. David Powell, Michael L. Workman | download | B–OK. Download books for free. Find books Digital control of dynamic systems | Gene F. Franklin, J ... Abstract This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic... (PDF) Digital Control of Dynamic Systems Digital Control of Dynamic Systems, Addison.pdf There is document Digital Control of Dynamic Systems, Addison.pdfavailable here for reading and downloading. Use the download button below or simple online reader. The file extension PDFand ranks to the Documentscategory. Digital Control of Dynamic Systems, Addison.pdf Download ... Automatic control is the science that develops techniques to steer, guide, control dynamic systems. These systems are built by humans and must perform a specific task. Examples of such dynamic systems are found in biology, physics, robotics, finance, etc. Digital Control means that the control laws are implemented in a digital device, such as a microcontroller or a microprocessor. Introduction to Digital Control of Dynamic Systems And ... The discussions are clear, nomenclature is not hard to follow and there are plenty of worked examples. The book covers discretization effects and design by emulation (i.e. design of continuous-time control system followed by discretization before implementation) which are not to be found on every book on digital control. Amazon.com: Customer reviews: Digital Control of Dynamic ... Find helpful customer reviews and review ratings for Digital Control of Dynamic Systems (3rd Edition) at Amazon.com. Read honest and unbiased product reviews from our users. Amazon.com: Customer reviews: Digital Control of Dynamic ... 1.1.2 Digital control Digital control systems employ a computer as a fundamental component in the controller. The computer typically receives a measurement of the controlled variable, also often receives the reference input, and produces its output using an algorithm. Introduction to Applied Digital Control From the Back Cover This well-respected, marketleading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition) Test Bank `Among the advantages of digital logic for control are the increased flexibility `of the control programs and the decision-making or logic capability of digital `systems, which can be combined with the dynamic control function to meet `other system requirements. `The digital controls studied in this book are for closed-loop (feedback) Every day, eBookDaily adds three new free Kindle books to several different genres, such as Nonfiction, Business & Investing, Mystery & Thriller, Romance, Teens & Young Adult, Children's Books, and others.

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Digital control of dynamic systems

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Modelling and Control of Robot Manipulators

The status and some recent developments in computational modeling of flexible multibody systems are summarized. Discussion focuses on a number of aspects of flexible multibody dynamics including: modeling of the flexible components, constraint modeling, solution techniques, control strategies, coupled problems, design, and experimental studies. The characteristics of the three types of reference frames used in modeling flexible multibody systems, namely, floating frame, corotational frame, and inertial frame, are compared. Future directions of research are identified. These include new applications such as micro- and nano-mechanical systems; techniques and strategies for increasing the fidelity and computational efficiency of the models; and tools that can improve the design process of flexible multibody systems. This review article cites 877 references. @DOI: 10.1115/1.1590354#

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Computational strategies for flexible multibody systems

A review on two-link flexible manipulators

This paper introduces the third generation of Pleated Pneumatic Artificial Muscles (PPAM), which has been developed to simplify the production over the first and second prototype. This type of artificial muscle was developed to overcome dry friction and material deformation, which is present in the widely used McKibben muscle. The essence of the PPAM is its pleated membrane structure which enables the muscle to work at low pressures and at large contractions. In order to validate the new PPAM generation, it has been compared with the mathematical model and the previous generation. The new production process and the use of new materials introduce improvements such as 55% reduction in the actuator’s weight, a higher reliability, a 75% reduction in the production time and PPAMs can now be produced in all sizes from 4 to 50 cm. This opens the possibility to commercialize this type of muscles so others can implement it. Furthermore, a comparison with experiments between PPAM and Festo McKibben muscles...

Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

This paper presents a persistent method for the identification problem of open-chained robotic systems. Based on the Projection Equation, a new, direct method to collect the dynamic and friction parameters in linear form is worked out. However, in this form, linear dependencies in the parameters occur and they are canceled out with the help of the QR algorithm. The obtained linear independent parameters are the base parameters of the system. To ensure a good excitation, the identification is improved by using optimized trajectories defined by Fourier-series, taking also physical constraints into account. The evaluation of the dynamic robot parameters is realized with a least squares error optimization. Furthermore, the result strongly depends on a special choice of weighting matrices for the error. Experimental results for a seven-axes robotic system (standard six-axes industrial manipulator mounted on a linear axis) are presented in detail. Additionally, the influence of temperature effects to base parameter changes is discussed.

A persistent method for parameter identification of a seven-axes manipulator

This paper considers recursive solving methods in the control of modular and reconfigurable robot systems. The focus lies on the end-point accuracy and recursive methods for its improvement. The modeling of the robot systems under consideration is done by the Projection Equation in Subsystem representation. Due to gear elasticities and the lack of position sensors at the gearbox output shaft, deflections of the end-point cannot be compensated by standard PD motor control. Therefore, a novel approach is presented in this contribution to correct the resulting position errors of the end-points of the robot systems. This proposed method enables to do a flat parameterization of such elastically modeled systems in a recursive manner, which is contrasted to the generally used non-recursive exact feed-forward linearization method in minimal form for such under-actuated systems. The ability to do the computation in such a recursive way offers the possibility to do the calculations systems for systems with many degrees-of-freedom (DOF) as well, where standard analytical methods reach their limits. And for modular systems, it is applicable as well. For validation, the proposed method is implemented for a robot arm with seven joints and simulation results are presented.

Recursive methods in control of flexible joint manipulators

On the Dynamics of Elastic Multibody Systems

Efficient simulation of dynamical systems becomes more and more important in industry and research. Dynamic modeling of multi-body systems yields highly nonlinear equations of motion. Usually, the accelerations are computed by an explicit inversion of the mass matrix that has the dimension according to the degrees of freedom. This classical foregoing implies high computational effort. In the present contribution, an O(n) formulation is introduced for efficient (recursive) procedure. It is based on the Projection Equation in subsystem representation, structuring the problem into parts and yielding interpretable intermediate solutions. The hereby necessary inversion refers to a reduced mass matrix that has the order of the considered subsystem. Additional constraints like endpoint contact are included via corresponding constraint forces. Avoiding an inversion of the total mass matrix is again successfully applied by a recursive procedure. The impact that occurs in the transition phase between the free system and constrained system is also solved in this sense. Results for the simulation of a plane pendulum motion with changing contact scenarios are presented.

Efficient dynamic modeling for rigid multi-body systems with contact and impact

Electrically driven Stewart platforms are used in the field of machine tooling and robotics, where very accurate positions have to be reached associated with heavy loads. In this paper we present a pneumatically driven Stewart platform powered by fluidic air muscles. Due to the elasticity of the muscles and air as driving medium, the robot is predestined for applications where compliance plays a major role. Compliant behavior is necessary for direct contact with humans. Fitness is an area, where this contact is given and a fast movement is needed for the body workout. Another field of application are simulators for computer games or 6D cinemas. To realize the six degrees of freedom (x, y, z, α, β, y ) for the Tool Center Point (TCP) there are six fluidic muscles. Due to the fact that the muscles are only able to pull on the platform, there is a spring in the middle that applies a compressive force to the moving part of the robot. The spring is a non modified spiral spring which is commonly used for the suspension of a passenger car. As a result of the kinematical model (inverse kinematics, forward kinematics) the workspace is optimized. To dimension and test the dynamical behavior, a Matlab/Simulink model is derived. This is done by applying the Projection Equation, a synthetical method for obtaining the equations of motions for multi body systems. Based on the dynamical model we develop a control concept in a cascaded structure (pressure control, linearization, position control). A laboratory setup is used to validate the simulation model. Both, simulations as well as experimental results demonstrate the success of the proposed concept.

Hartmut Bremer

Papers

A persistent method for parameter identification of a seven-axes manipulator

Recursive methods in control of flexible joint manipulators

On the Dynamics of Elastic Multibody Systems

Efficient dynamic modeling for rigid multi-body systems with contact and impact

Modeling and Control of a Pneumatically Driven Stewart Platform