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Dynamics of Underactuated Multibody Systems

Modeling, Control and Optimal Design

Robert Seifried (Autor)

Buch | Hardcover

XI, 249 Seiten

2013 | 2014
Springer International Publishing (Verlag)
978-3-319-01227-8 (ISBN)

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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.

1 Introduction.- 2 Multibody Systems.- 3 Feedback Linearization and Model Inversion of Nonlinear Systems.- 4 Trajectory Tracking of Multibody Systems.- 5 Model Inversion Using Servo-Constraints.- 6 Trajectory Tracking of Flexible Multibody Systems.- 7 Optimal System Design.- 8 Concluding Remarks.- Index.

From the reviews:

"This is a compact monograph on underactuated multibody systems. 'Underactuated' refers to systems with more degrees of freedom than there are actuators, or controls. ... The book is well written with well-prepared figures and excellent editing. ... the book is likely to be a very useful reference for those theoreticians, students, and practitioners working in one of the many areas discussed." (Ronald L. Huston, zbMATH, Vol. 1283, 2014)

Erscheint lt. Verlag	20.11.2013
Reihe/Serie	Solid Mechanics and Its Applications
Zusatzinfo	XI, 249 p. 81 illus., 5 illus. in color.
Verlagsort	Cham
Sprache	englisch
Maße	155 x 235 mm
Gewicht	561 g
Themenwelt	Naturwissenschaften ► Physik / Astronomie ► Mechanik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
Schlagworte	flexible multibody systems • Mechatronics • Nonlinear Control • Robotics • Structural Optimization
ISBN-10	3-319-01227-4 / 3319012274
ISBN-13	978-3-319-01227-8 / 9783319012278
Zustand	Neuware