Dynamics of Underactuated Multibody Systems - Modeling, Control and Optimal Design (Paperback, Softcover reprint of the original 1st ed. 2014)

Underactuated multibody systems are intriguing mechatronic systems, as they posses 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.

General

Imprint:	Springer International Publishing AG
Country of origin:	Switzerland
Series:	Solid Mechanics and Its Applications, 205
Release date:	August 2016
First published:	2014
Authors:	Robert Seifried
Dimensions:	235 x 155 x 14mm (L x W x T)
Format:	Paperback
Pages:	249
Edition:	Softcover reprint of the original 1st ed. 2014
ISBN-13:	978-3-319-37489-5
Categories:	Books > Science & Mathematics > Physics > Classical mechanics > General Books > Professional & Technical > Mechanical engineering & materials > Materials science > Mechanics of solids > Dynamics & vibration Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > General
LSN:	3-319-37489-3
Barcode:	9783319374895

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