Control Design and Analysis for Underactuated Robotic Systems
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...
| Main Author: | Xin, Xin (Writer on automatic control) |
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| Other Authors: | Liu, Yannian (Writer on automatic control), SpringerLink (Online service) |
| Format: | eBook |
| Language: | English |
| Published: |
London :
Springer,
2014.
|
| Physical Description: |
1 online resource (xvii, 319 pages) : illustrations (some color) |
| Subjects: |
| Summary: |
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" 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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| Item Description: |
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. Includes bibliographical references and index. 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" 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. English. |
| Physical Description: |
1 online resource (xvii, 319 pages) : illustrations (some color) |
| Bibliography: |
Includes bibliographical references and index. |
| ISBN: |
9781447162513 144716251X |