| 书目名称 | Control Design and Analysis for Underactuated Robotic Systems | | 编辑 | Xin Xin,Yannian Liu | | 视频video | http://file.papertrans.cn/238/237235/237235.mp4 | | 概述 | Related source files available for download for the convenience of the reader.Enables the reader to analyze the behaviour of these systems and to develop new control designs for these systems numerica | | 图书封面 |  | | 描述 | .The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). .C.ontrol. Design and Analysis .for .U.nderactuated .R.obotic .S.yste.ms. presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs..Control Design and Analysis for Underactuated Robotic Systems. includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:.l directly and remotely driven Acrobots.l Pendubot.l rotational pendulum.l counter-weighted Acrobot.2-link underactuated robot with flexible elbow joint.l variable-length pendulum.l 3-link gymnastic robot with passive first joint.l n-link planar robot with passive first joint.l n-link planar robot with passive single joint.double, or two parallel pendulums on a cart.l 3-link planar robots with underactuation degree t | | 出版日期 | Book 2014 | | 关键词 | Energy- and Passivity-based Control; Nonlinear Control; Robotic Systems; Stability and Motion Analysis; | | 版次 | 1 | | doi | https://doi.org/10.1007/978-1-4471-6251-3 | | isbn_softcover | 978-1-4471-7059-4 | | isbn_ebook | 978-1-4471-6251-3 | | copyright | Springer-Verlag London 2014 |
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