Electronic Resource

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

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Penilaian

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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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Availability

Inventory Code	Barcode	Call Number	Location	Status
1408000243	EB0000404	629.8 Sei d	Central Library	Available

Detail Information

Series Title

Solid Mechanics and Its Applications

Call Number

629.8 Sei d

Publisher

Switzerland : Springer Cham., 2013

Collation

xi, 249p.: Ill.

Language

English

ISBN/ISSN

978-3-319-01228-5

Classification

629.8

Content Type

Text

Media Type

-

Carrier Type

online resource

Edition

1

Subject(s)

Multibody Systems

Specific Detail Info

-

Statement of Responsibility

RTS

Other version/related

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