Solid Mechanics and Its Applications

Dynamics of Underactuated Multibody Systems

Modeling, Control and Optimal Design

Authors: Seifried, Robert

  • Fully self-contained treatment of underactuated and flexible multibody systems
  • Interdisciplinary content from mechanics, nonlinear control and optimization is presented in an unified form and notation
  • Each chapter is accompanied by one or several illustrative examples
  • All necessary data and detailed results are provided, such that these can be used as benchmark problems
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eBook $99.00
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  • ISBN 978-3-319-01228-5
  • Digitally watermarked, DRM-free
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  • Immediate eBook download after purchase
Hardcover $129.00
price for USA
  • ISBN 978-3-319-01227-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $129.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 6, 2016
  • ISBN 978-3-319-37489-5
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
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About this book

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.

Reviews

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)


Table of contents (8 chapters)

  • Introduction

    Seifried, Robert

    Pages 1-8

  • Multibody Systems

    Seifried, Robert

    Pages 9-54

  • Feedback Linearization and Model Inversion of Nonlinear Systems

    Seifried, Robert

    Pages 55-111

  • Trajectory Tracking of Multibody Systems

    Seifried, Robert

    Pages 113-166

  • Model Inversion Using Servo-Constraints

    Seifried, Robert

    Pages 167-181

Buy this book

eBook $99.00
price for USA (gross)
  • ISBN 978-3-319-01228-5
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $129.00
price for USA
  • ISBN 978-3-319-01227-8
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $129.00
price for USA
  • Customers within the U.S. and Canada please contact Customer Service at 1-800-777-4643, Latin America please contact us at +1-212-460-1500 (Weekdays 8:30am – 5:30pm ET) to place your order.
  • Due: October 6, 2016
  • ISBN 978-3-319-37489-5
  • Free shipping for individuals worldwide
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Dynamics of Underactuated Multibody Systems
Book Subtitle
Modeling, Control and Optimal Design
Authors
Series Title
Solid Mechanics and Its Applications
Series Volume
205
Copyright
2014
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-01228-5
DOI
10.1007/978-3-319-01228-5
Hardcover ISBN
978-3-319-01227-8
Softcover ISBN
978-3-319-37489-5
Series ISSN
0925-0042
Edition Number
1
Number of Pages
XI, 249
Number of Illustrations and Tables
76 b/w illustrations, 5 illustrations in colour
Topics