Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design download pdf
Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design download pdf
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Author: Robert Seifried
Number of Pages: 260 pages
Published Date: 20 Nov 2013
Publisher: Springer International Publishing AG
Publication Country: Cham, Switzerland
Language: English
Format: PDF
ISBN: 9783319012278
File Name: Dynamics.of.Underactuated.Multibody.Systems.Modeling,.Control.and.Optimal.Design.pdf
Download Link: Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design
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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.
Read online Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design Buy Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design Download Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design ebook, pdf, djvu, epub, mobi, fb2, zip, rar, torrent Download to iPad/iPhone/iOS, B&N nook Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design
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Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design. Robert Seifried
Author: Robert Seifried
Number of Pages: 260 pages
Published Date: 20 Nov 2013
Publisher: Springer International Publishing AG
Publication Country: Cham, Switzerland
Language: English
Format: PDF
ISBN: 9783319012278
File Name: Dynamics.of.Underactuated.Multibody.Systems.Modeling,.Control.and.Optimal.Design.pdf
Download Link: Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design
---------------------------------------------------------------
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.
Read online Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design Buy Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design Download Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design ebook, pdf, djvu, epub, mobi, fb2, zip, rar, torrent Download to iPad/iPhone/iOS, B&N nook Dynamics of Underactuated Multibody Systems : Modeling, Control and Optimal Design
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