Resonant Robotic Systems

1. Application of resonant systems.- §1.1 Load relief and balancing of robotic systems.- § 1.2 Systems to relieve drives from inertia forces.- §1.3 Resonant robotic system components.- § 1.4 Synthesis of spring accumulators.- §1.5 Design of resonant robotic systems.- 2. Dynamics of resonant robotic systems.- §2.1 Equations of motion for resonant robots.- §2.2 Resonant systems with ideal drives.- §2.3 Electromechanical drive for resonant systems.- 3. Optimal control of resonant systems.- §3.1 Statement of the optimisation problem. Efficiency criteria.- §3.2 Synthesis of optimal cyclic drive.- §3.3 Control of resonant drives with minimal energy consumption.- §3.4 Operating speed of cyclic resonant drives.- §3.5 Optimal control with minimal heat generation.- §3.6 Control to minimise cumulative angular momentum of the driver.- §3.7 Efficiency of control for resonant drives.- 4. Adaptive control of resonant robots.- §4.1 Introduction.- §4.2 Synthesis of regulator.- §4.3 Adaptive control.- §4.4 Simultaneous control of rotation and translation.- §4.5 Conclusion.