Control Design and Analysis for Underactuated Robotic Systems

Nonfiction, Science & Nature, Technology, Automation, Robotics
Cover of the book Control Design and Analysis for Underactuated Robotic Systems by Xin Xin, Yannian Liu, Springer London
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Author: Xin Xin, Yannian Liu ISBN: 9781447162513
Publisher: Springer London Publication: January 3, 2014
Imprint: Springer Language: English
Author: Xin Xin, Yannian Liu
ISBN: 9781447162513
Publisher: Springer London
Publication: January 3, 2014
Imprint: Springer
Language: English

The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). C**ontrol Design and Analysis for U**nderactuated R**obotic 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 includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:

l  directly and remotely driven  Acrobots

l  Pendubot

l  rotational pendulum

l  counter-weighted Acrobot

2-link underactuated robot with flexible elbow joint

l  variable-length pendulum

l  3-link gymnastic robot with passive first joint

l  n-link planar robot with passive first joint

l  n-link planar robot with passive single joint

double, or two parallel pendulums on a cart

l  3-link planar robots with underactuation degree two

2-link free flying robot

The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.

C**ontrol Design and Analysis for U**nderactuated R**obotic 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.

View on Amazon View on AbeBooks View on Kobo View on B.Depository View on eBay View on Walmart

The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). C**ontrol Design and Analysis for U**nderactuated R**obotic 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 includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:

l  directly and remotely driven  Acrobots

l  Pendubot

l  rotational pendulum

l  counter-weighted Acrobot

2-link underactuated robot with flexible elbow joint

l  variable-length pendulum

l  3-link gymnastic robot with passive first joint

l  n-link planar robot with passive first joint

l  n-link planar robot with passive single joint

double, or two parallel pendulums on a cart

l  3-link planar robots with underactuation degree two

2-link free flying robot

The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.

C**ontrol Design and Analysis for U**nderactuated R**obotic 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.

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