Title
Control design and analysis for underactuated robotic systems [electronic resource] / Xin Xin, Yannian Liu.
ISBN
9781447162513 electronic book
144716251X electronic book
9781447162506
Published
London : Springer, 2014.
Language
English
Description
1 online resource (xvii, 319 pages) : illustrations (some color)
Item Number
10.1007/978-1-4471-6251-3 doi
Call Number
TJ211.35
Dewey Decimal Classification
629.8
Summary
The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques, and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs. "Control Design and Analysis for Underactuated Robotic Systems" is intended for advanced undergraduate and graduate students, and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.
Bibliography, etc. Note
Includes bibliographical references and index.
Access Note
Access limited to authorized users.
Source of Description
Description based on online resource; title from PDF title page (SpringerLink, viewed January 6, 2014).
Fundamental Background
Directly Driven Acrobat
Remotely Driven Acrobat
Pendubot
Rotational Pendulum
Counter-Weighted Acrobot
Variable Length Pendulum
2-Link Underactuated Robot with Flexible Elbow Joint
3-Link Planar Robot with Passive First Joint
n-Link Planar Robot with Passive First Joint
n-Link Planar Robot with Single Passive Joint
Two Parallel Pendulums on a Cart
Double Pendulum on a Cart
3-Link Planar Robot with Two Passive Joints
2-Link Flying Robot.
