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1. |
Record Nr. |
UNINA9910725080303321 |
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Autore |
Wu Jundong |
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Titolo |
Control of Underactuated Manipulators : Design and Optimization / / by Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang |
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Pubbl/distr/stampa |
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Singapore : , : Springer Nature Singapore : , : Imprint : Springer, , 2023 |
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ISBN |
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9789819908905 |
9789819908899 |
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Edizione |
[1st ed. 2023.] |
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Descrizione fisica |
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1 online resource (304 pages) |
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Disciplina |
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Soggetti |
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Automatic control |
Robotics |
Automation |
System theory |
Control theory |
Control and Systems Theory |
Control, Robotics, Automation |
Systems Theory, Control |
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Lingua di pubblicazione |
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Formato |
Materiale a stampa |
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Livello bibliografico |
Monografia |
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Nota di bibliografia |
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Includes bibliographical references and index. |
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Nota di contenuto |
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1. Introduction -- 2. Modeling and Characteristics Analysis of Underactuated Manipulators -- 3. Control of Vertical Underactuated Manipulator -- 4. Control of Planar Manipulator with a Passive First Joint -- 5. Control of Planar Underactuated Manipulator with an Active First Joint. |
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Sommario/riassunto |
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This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design |
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and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems. |
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