Control Design and Analysis for Underactuated Robotic Systems (Record no. 58960)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03945nam a22004935i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-1-4471-6251-3 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20200421112553.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 140103s2014 xxk| s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9781447162513 |
| -- | 978-1-4471-6251-3 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | Xin, Xin. |
| 245 10 - TITLE STATEMENT | |
| Title | Control Design and Analysis for Underactuated Robotic Systems |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XVII, 319 p. 111 illus., 94 illus. in color. |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | Fundamental Background -- Directly Driven Acrobat -- Remotely Driven Acrobat.- Pendubot -- Rotational Pendulum -- Counter-Weighted Acrobot -- Variable Length Pendulum -- 2-Link Underactuated Robot with Flexible Elbow Joint.- 3-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Single Passive Joint -- Two Parallel Pendulums on a Cart -- Double Pendulum on a Cart -- 3-Link Planar Robot with Two Passive Joints -- 2-Link Flying Robot. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems 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. Control Design and Analysis for Underactuated Robotic Systems 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. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Liu, Yannian. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-1-4471-6251-3 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | London : |
| -- | Springer London : |
| -- | Imprint: Springer, |
| -- | 2014. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Artificial intelligence. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics and Automation. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Artificial Intelligence (incl. Robotics). |
| 912 ## - | |
| -- | ZDB-2-ENG |
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