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Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design
Hardcover
Series: Solid Mechanics and Its Applications, Book 205
Technology & EngineeringPhysics
ISBN13: 9783319012278
Publisher: Springer
Published: Nov 20 2013
Pages: 249
Weight: 1.20
Height: 0.63 Width: 6.14 Depth: 9.21
Language: English
Underactuated multibody systems are intriguing mechatronic systems, as they posses 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 an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
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