rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Dynamics of Underactuated Multibody Systems
    sub title: Modeling, Control and Optimal Design
  name:
    name part: Seifried, Robert.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2014
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XI, 249 p. 81 illus., 5 illus. in color. online resource.
  abstract: 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.
  table of 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.
  note: by Robert Seifried.
  subject:
    topic: Engineering
  subject:
    topic: Mechanics
  subject:
    topic: Vibration
  subject:
    topic: Dynamical systems
  subject:
    topic: Dynamics
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Engineering
  subject:
    topic: Vibration, Dynamical Systems, Control
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Mechanics
  classification: TA355
  classification: TA352-356
  classification: 620
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Solid Mechanics and Its Applications, 205
  identifier: 9783319012285
  identifier: http://dx.doi.org/10.1007/978-3-319-01228-5
  record info:
    record creation date: 131106
    record change date: 20151030091031.0
    record identifier: 978-3-319-01228-5