Name: Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design (en Inglés)
Price: 381558.00 COP
Availability: InStock
Author: Seifried, Robert
ISBN: 9783319012278

portada Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design (en Inglés)

Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design (en Inglés)

Formato

Libro Físico

Autor

Robert Seifried

Editorial

Springer

Idioma

Inglés

N° páginas

249

Encuadernación

Tapa Dura

Dimensiones

23.4 x 15.6 x 1.6 cm

Peso

0.54 kg.

ISBN13

9783319012278

Categorías

Dinámica y estática
Ingeniería mecánica
Ingeniería de control automático

Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design (en Inglés)

Robert Seifried (Autor) · Springer · Tapa Dura

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Reseña del libro "Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design (en Inglés)"

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.