Control Design and Analysis for Underactuated Robotic Systems

• Main Authors: Xin, Xin (Author), Liu, Yannian (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: London : Springer London : Imprint: Springer, 2014.
• Subjects: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Automation.; Control.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).

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...

Table of Contents:

• 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.