Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design /

• Main Author: Seifried, Robert (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2014.
• Series: Solid Mechanics and Its Applications, 205
• Subjects: Engineering.; Mechanics.; Vibration.; Dynamical systems.; Dynamics.; Control engineering.; Robotics.; Mechatronics.; Vibration, Dynamical Systems, Control.; Control, Robotics, Mechatronics.

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 a...

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.