Control Design and Analysis for Underactuated Robotic Systems
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- Hardcover ausgewählt
- Taschenbuch
- eBook
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Sprache:Englisch
138,99 €
UVP
160,49 €
inkl. gesetzl. MwSt.,
Beschreibung
Produktdetails
Einband
Gebundene Ausgabe
Erscheinungsdatum
16.01.2014
Abbildungen
XVII, 319 p. 111 illus., 94 illus. in color. With online files/update.
Verlag
Springer LondonSeitenzahl
319
Maße (L/B/H)
24,1/16/2,4 cm
Gewicht
676 g
Auflage
2014
Sprache
Englisch
ISBN
978-1-4471-6250-6
The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). C ontrol Design and Analysis for U nderactuated R obotic S yste ms presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.
Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:
l directly and remotely driven Acrobots
l Pendubot
l rotational pendulum
l counter-weighted Acrobot
2-link underactuated robot with flexible elbow joint
l variable-length pendulum
l 3-link gymnastic robot with passive first joint
l n-link planar robot with passive first joint
l n-link planar robot with passive single joint
double, or two parallel pendulums on a cart
l 3-link planar robots with underactuation degree two
2-link free flying robot
The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.
C ontrol Design and Analysis for U nderactuated R obotic S yste ms is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.
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