Overview
- 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
Part of the book series: Solid Mechanics and Its Applications (SMIA, volume 205)
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Table of contents (8 chapters)
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Front Matter
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Back Matter
Keywords
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)
Authors and Affiliations
Bibliographic Information
Book Title: Dynamics of Underactuated Multibody Systems
Book Subtitle: Modeling, Control and Optimal Design
Authors: Robert Seifried
Series Title: Solid Mechanics and Its Applications
DOI: https://doi.org/10.1007/978-3-319-01228-5
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2014
Hardcover ISBN: 978-3-319-01227-8Published: 20 November 2013
Softcover ISBN: 978-3-319-37489-5Published: 23 August 2016
eBook ISBN: 978-3-319-01228-5Published: 08 November 2013
Series ISSN: 0925-0042
Series E-ISSN: 2214-7764
Edition Number: 1
Number of Pages: XI, 249
Number of Illustrations: 76 b/w illustrations, 5 illustrations in colour
Topics: Vibration, Dynamical Systems, Control, Control, Robotics, Mechatronics, Classical Mechanics