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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Detalles Bibliográficos
Autor principal: Seifried, Robert
Formato: Libro electrónico
Lenguaje:Inglés
Publicado: Cham : Springer International Publishing : Imprint: Springer, 2014.
Colección:Solid Mechanics and Its Applications, 205
Materias:
Engineering.
Mechanics.
Vibration.
Dynamical systems.
Dynamics.
Control engineering.
Robotics.
Mechatronics.
Acceso en línea:http://dx.doi.org/10.1007/978-3-319-01228-5
Aporte de:Registro referencial: Solicitar el recurso aquí
Bibliotecas (ING-UNLP) de Universidad Nacional de La Plata
Tabla de Contenidos:
  • 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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