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Lecture Notes in Control and Information Sciences

Nonsmooth Impact Mechanics

Models, Dynamics and Control

Authors: Brogliato, Bernard

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The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic physical laws of shocks (restitution roles) are described and commented on. In view of the applications to feedback control, stability properties of trajectories of various types of measure differential equations are reviewed. This includes a general stability analysis framework suitable for a class of impacting robotic systems performing complete tasks. Finally, feedback control of manipulators subject to unilateral constraints (which consist of a class of hybrid systems) is studied.

Table of contents (8 chapters)

Table of contents (8 chapters)

Buy this book

eBook $74.99
price for USA in USD (gross)
  • The eBook version of this title will be available soon
  • ISBN 978-3-540-70681-6
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
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Bibliographic Information

Bibliographic Information
Book Title
Nonsmooth Impact Mechanics
Book Subtitle
Models, Dynamics and Control
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
220
Copyright
1996
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag London
eBook ISBN
978-3-540-70681-6
DOI
10.1007/BFb0027733
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XV, 402
Number of Illustrations
4 b/w illustrations
Topics

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