Dynamics of underactuated multibody systems [electronic resource] : modeling, control and optimal design / Robert Seifried.

Dynamics of underactuated multibody systems [electronic resource] : modeling, control and optimal design / Robert Seifried.

9783319012285 electronic book
3319012282 electronic book
9783319012278

Cham : Springer, 2014.

English

1 online resource (xi, 249 pages) : illustrations (some color).

10.1007/978-3-319-01228-5 doi

QA805

531.01/515

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 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.

Includes bibliographical references and index.

Access limited to authorized users.

Description based on online resource; title from PDF title page (SpringerLink, viewed November 11, 2013).

Solid mechanics and its applications ; v.205. 0925-0042

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