عنوان

Dynamics of underactuated multibody systems : modeling, control and optimal design

Standard Number

electronic

Title Proper

Dynamics of underactuated multibody systems : modeling, control and optimal design

Place of Publication, Distribution, etc.

Cham

Name of Publisher, Distributor, etc.

Springer

Date of Publication, Distribution, etc.

2014

Specific Material Designation and Extent of Item

xi, 249 p

Text of Note

Includes bibliographical references and index

Text of Note

Robert Seifried

Text of Note

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

Entry Element

، Multibody systems

Entry Element

، Engineering

Entry Element

، Vibration, Dynamical Systems, Control

Class number

Relator Code

AU

AU Seifried, Robert author