Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design /

Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from a...

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Détails bibliographiques
Cote:Libro Electrónico
Auteur principal: Seifried, Robert (Auteur)
Collectivité auteur: SpringerLink (Online service)
Format: Électronique eBook
Langue:Inglés
Publié: Cham : Springer International Publishing : Imprint: Springer, 2014.
Édition:1st ed. 2014.
Collection:Solid Mechanics and Its Applications, 205
Sujets:
Multibody systems.
Vibration.
Mechanics, Applied.
Control engineering.
Robotics.
Automation.
Mechanics.
Multibody Systems and Mechanical Vibrations.
Control, Robotics, Automation.
Classical Mechanics.
Accès en ligne:Texto Completo
Table des matières:
  • 1 Introduction
  • 2 Multibody Systems
  • 3 Feedback Linearization and Model Inversion of Nonlinear Systems
  • 4 Trajectory Tracking of Multibody Systems
  • 5 Model Inversion Using Servo-Constraints
  • 6 Trajectory Tracking of Flexible Multibody Systems
  • 7 Optimal System Design
  • 8 Concluding Remarks
  • Index.

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