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Titlebook: Control Design and Analysis for Underactuated Robotic Systems; Xin Xin,Yannian Liu Book 2014 Springer-Verlag London 2014 Energy- and Passi

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書目名稱Control Design and Analysis for Underactuated Robotic Systems
編輯Xin Xin,Yannian Liu
視頻videohttp://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
圖書封面Titlebook: Control Design and Analysis for Underactuated Robotic Systems; Xin Xin,Yannian Liu Book 2014 Springer-Verlag London 2014 Energy- and Passi
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
關(guān)鍵詞Energy- and Passivity-based Control; Nonlinear Control; Robotic Systems; Stability and Motion Analysis;
版次1
doihttps://doi.org/10.1007/978-1-4471-6251-3
isbn_softcover978-1-4471-7059-4
isbn_ebook978-1-4471-6251-3
copyrightSpringer-Verlag London 2014
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Isaac B. Bersuker,Victor Z. Polingersults. This chapter investigates experimentally how to deal with some modeling errors including unmodeled frictions. This chapter shows that the energy-based swing-up controller for the RDA is effective both theoretically and experimentally.
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Fundamental Background, of the partial feedback linearization and the energy-based control for underactuated robotic systems. This chapter also presents several inequalities which are useful for determining the conditions on control gains in this book.
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Einleitung und Problemstellung, of the partial feedback linearization and the energy-based control for underactuated robotic systems. This chapter also presents several inequalities which are useful for determining the conditions on control gains in this book.
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