How Long to Read Inverse Dynamics Control in Robotics Applications

How Long Does it Take to Read Inverse Dynamics Control in Robotics Applications?

It takes the average reader 4 hours and 30 minutes to read Inverse Dynamics Control in Robotics Applications by Krzysztof Piotr Jankowski

Assuming a reading speed of 250 words per minute. Learn more

Description

This book presents both the foundations and implementation aspects of the inverse dynamics control, and examines how the solution of the inverse dynamics problem can be used for the development of controllers for selected engineering applications. The inverse dynamics control approach is directly related to the solution of the inverse dynamics problem considered in analytical mechanics. Having the specified motion and the desired properties of the resulting system, the control inputs that ensure the realization of these control objectives are to be found. By appropriately inverting the dynamic model of the plant to be controlled, a control law can be constructed which cancels the nonlinear part of the dynamics, decouples the interactions between the regulated variables, and specifies the time characteristics of the decay of the task errors. The constrained system formalism is used throughout the book and its usefulness for inverse dynamics formulation is established. The capability of the inverse dynamics controller to enforce the execution of prescribed motion of the system and at the same time to control the interaction forces with the environment is demonstrated. A new approach for the task space decomposition needed for hybrid position/force control is developed, motivated by constrained system formalism and linear algebra methods. The application of the inverse dynamics control is illustrated for several exemplary mechanical systems and for a wide variety of robotic systems; including robots constrained by the environment, robots with flexible joints, multiple robot arms, etc. Pure nonlinear inverse dynamics control is considered, as well as its robust version, and the approximate solutions to the problem. The results of numerical simulations and real-time experiments are presented to support the analytical developments. More than 200 literature sources are referred to in the book. Many mechanical systems considered in engineering practice are dynamically similar to the class of systems considered in this book. The new applications for inverse dynamics solutions arise in such fields as high precision robot manipulator control, flight control, biomechanics, vehicle control, and in many related areas. Therefore, the book can be of interest to specialists involved in developing control laws for a large variety of mechanical systems.

How long is Inverse Dynamics Control in Robotics Applications?

Inverse Dynamics Control in Robotics Applications by Krzysztof Piotr Jankowski is 265 pages long, and a total of 67,575 words.

This makes it 89% the length of the average book. It also has 83% more words than the average book.

How Long Does it Take to Read Inverse Dynamics Control in Robotics Applications Aloud?

The average oral reading speed is 183 words per minute. This means it takes 6 hours and 9 minutes to read Inverse Dynamics Control in Robotics Applications aloud.

What Reading Level is Inverse Dynamics Control in Robotics Applications?

Inverse Dynamics Control in Robotics Applications is suitable for students ages 12 and up.

Note that there may be other factors that effect this rating besides length that are not factored in on this page. This may include things like complex language or sensitive topics not suitable for students of certain ages.

When deciding what to show young students always use your best judgement and consult a professional.

Where Can I Buy Inverse Dynamics Control in Robotics Applications?

Inverse Dynamics Control in Robotics Applications by Krzysztof Piotr Jankowski is sold by several retailers and bookshops. However, Read Time works with Amazon to provide an easier way to purchase books.

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