000 03945nam a22004935i 4500
001 978-1-4471-6251-3
003 DE-He213
005 20200421112553.0
007 cr nn 008mamaa
008 140103s2014 xxk| s |||| 0|eng d
020 _a9781447162513
_9978-1-4471-6251-3
024 7 _a10.1007/978-1-4471-6251-3
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aXin, Xin.
_eauthor.
245 1 0 _aControl Design and Analysis for Underactuated Robotic Systems
_h[electronic resource] /
_cby Xin Xin, Yannian Liu.
264 1 _aLondon :
_bSpringer London :
_bImprint: Springer,
_c2014.
300 _aXVII, 319 p. 111 illus., 94 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aFundamental 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 _aThe 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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
700 1 _aLiu, Yannian.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9781447162506
856 4 0 _uhttp://dx.doi.org/10.1007/978-1-4471-6251-3
912 _aZDB-2-ENG
942 _cEBK
999 _c58960
_d58960