Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design /
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...
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| Main Author: | |
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| Format: | Electronic eBook |
| Language: | English |
| Published: |
Cham :
Springer International Publishing : Imprint: Springer,
2014.
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| Edition: | 1st ed. 2014. |
| Series: | Solid Mechanics and Its Applications,
205 |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/978-3-319-01228-5 |
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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.