Control of underactuated manipulators : design and optimization / Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang.
Wu, Jundong, author.; Zhang, Pan, author.; Meng, Qingxin, author.; Wang, Yawu, author.
2023
TJ211
Available Online

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Title Control of underactuated manipulators : design and optimization / Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang.
Author Wu, Jundong, author.
ISBN 9789819908905 (electronic bk.)
9819908906 (electronic bk.)
9789819908899
9819908892
DOI https://doi.org/10.1007/978-981-99-0890-5
Published Singapore : Springer, 2023.
Language English
Description 1 online resource (xv, 292 pages) : illustrations (some color)
Item Number 10.1007/978-981-99-0890-5 doi
Call Number TJ211
Dewey Decimal Classification 629.8/933
Summary This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Bibliography, etc. Note Includes bibliographical references and index.
Access Note Access limited to authorized users.
Source of Description Online resource; title from PDF title page (SpringerLink, viewed May 18, 2023).
Added Author Zhang, Pan, author.
Meng, Qingxin, author.
Wang, Yawu, author.
Available in Other Form Print version: 9789819908899
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Record Appears in Online Resources > Ebooks
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1. Introduction
2. Modeling and Characteristics Analysis of Underactuated Manipulators
3. Control of Vertical Underactuated Manipulator
4. Control of Planar Manipulator with a Passive First Joint
5. Control of Planar Underactuated Manipulator with an Active First Joint.

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