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Dynamics of Underactuated Multibody Systems [electronic resource] : Modeling, Control and Optimal Design / by Robert Seifried.

By: Seifried, Robert [author.].
Contributor(s): SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Solid Mechanics and Its Applications: 205Publisher: Cham : Springer International Publishing : Imprint: Springer, 2014Description: XI, 249 p. 81 illus., 5 illus. in color. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783319012285.Subject(s): Engineering | Mechanics | Vibration | Dynamical systems | Dynamics | Control engineering | Robotics | Mechatronics | Engineering | Vibration, Dynamical Systems, Control | Control, Robotics, Mechatronics | MechanicsAdditional physical formats: Printed edition:: No titleDDC classification: 620 Online resources: Click here to access online
Contents:
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.
In: Springer eBooksSummary: 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 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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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.

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 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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