Description: Dynamics of Underactuated Multibody Systems Please note: this item is printed on demand and will take extra time before it can be dispatched to you (up to 20 working days). Modeling, Control and Optimal Design Author(s): Robert Seifried Format: Paperback Publisher: Springer International Publishing AG, Switzerland Imprint: Springer International Publishing AG ISBN-13: 9783319374895, 978-3319374895 Synopsis 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.
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Book Title: Dynamics of Underactuated Multibody Systems
Subject Area: Material Science, Mechanical Engineering
Item Height: 235 mm
Item Width: 155 mm
Series: Solid Mechanics and Its Applications
Author: Robert Seifried
Publication Name: Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design
Format: Paperback
Language: English
Publisher: Springer International Publishing A&G
Subject: Mechanics
Publication Year: 2016
Type: Textbook
Item Weight: 4044 g
Number of Pages: 249 Pages
