03783nam 22007095 450 991072508030332120230513222425.09789819908905(electronic bk.)978981990889910.1007/978-981-99-0890-5(MiAaPQ)EBC7248903(Au-PeEL)EBL7248903(DE-He213)978-981-99-0890-5(BIP)088157419(PPN)270619208(CKB)26637882700041(EXLCZ)992663788270004120230513d2023 u| 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierControl of Underactuated Manipulators Design and Optimization /by Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang1st ed. 2023.Singapore :Springer Nature Singapore :Imprint: Springer,2023.1 online resource (304 pages)Print version: Wu, Jundong Control of Underactuated Manipulators Singapore : Springer,c2023 9789819908899 Includes bibliographical references and index.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.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 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.Automatic controlRoboticsAutomationSystem theoryControl theoryControl and Systems TheoryControl, Robotics, AutomationSystems Theory, Control AutomationSystem TheoryTechnology & EngineeringScienceAutomatic control.Robotics.Automation.System theory.Control theory.Control and Systems Theory.Control, Robotics, Automation.Systems Theory, Control .629.892Wu Jundong1358264Zhang PanMeng QingxinWang YawuMiAaPQMiAaPQMiAaPQ9910725080303321Control of Underactuated Manipulators3367446UNINA