03830oam 2200493 450 991029975790332120190911103511.01-4471-6251-X10.1007/978-1-4471-6251-3(OCoLC)869215335(MiFhGG)GVRL6VBU(EXLCZ)99371000000008333920131219d2014 uy 0engurun|---uuuuatxtccrControl design and analysis for underactuated robotic systems /Xin Xin, Yannian Liu1st ed. 2014.London :Springer,2014.1 online resource (xvii, 319 pages) illustrations (some color)Gale eBooksDescription based upon print version of record.1-4471-6250-1 Includes bibliographical references and index.Fundamental Background -- Directly Driven Acrobat -- Remotely Driven Acrobat -- Pendubot -- Rotational Pendulum -- Counter-Weighted Acrobot -- Variable Length Pendulum -- 2-Link Underactuated Robot with Flexible Elbow Joint -- 3-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Passive First Joint -- n-Link Planar Robot with Single Passive Joint -- Two Parallel Pendulums on a Cart -- Double Pendulum on a Cart -- 3-Link Planar Robot with Two Passive Joints -- 2-Link Flying Robot.The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems 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 two 2-link free flying robot The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum. Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students, and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.RobotsControl systemsRoboticsRobotsControl systems.Robotics.006.3620629.8629.892Xin Xinauthttp://id.loc.gov/vocabulary/relators/aut987546Liu Yannian(Writer on automatic control),MiFhGGMiFhGGBOOK9910299757903321Control Design and Analysis for Underactuated Robotic Systems2257545UNINA01171nam0 22002771i 450 UON0041234720231205104746.9720121023d1883 |0itac50 bagerDE|||| 1||||Gebete und Anrufungen in den altfranzosischen Chansons de Gestevon Johannes AltonaMarburgN.G. Elwert188339 p.23 cm.001UON004123482001 Ausgaben und Abhandlungen aus dem Gebiete der romanischen Philologie210 MarburgElwert.9LINGUISTICA FRANCESEStudiUONC072615FIDEMarburgUONL000869448Linguistica francese21ALTONAJohannesUONV210843387478ElwertUONV267354650ITSOL20240220RICASIBA - SISTEMA BIBLIOTECARIO DI ATENEOUONSIUON00412347SIBA - SISTEMA BIBLIOTECARIO DI ATENEOSI Fil.R I 335 SI MR 59612 5 335 BuonoGebete und Anrufungen in den altfranzösischen Chansons de Geste560040UNIOR01204nam0 22002891i 450 UON0011497520231205102652.73420020107d1998 |0itac50 bajpnJP|||| 1||||Hogan sensei no shinshitsu tetsugakuShimada MasahikoTokyoKadokawa shunju jimusho1998189 p.15 cmfatt. 286-30949226 del 1.8.01IT-UONSI GIAVIBA/677 N001UON001425992001 Haruki bunkoshi 2-1LETTERATURA GIAPPONESESEC. XXUONC000346FIJPTōkyōUONL000031GIA VI BAGIAPPONE - LETTERATURA MODERNA E CONTEMPORANEA - TESTIASHIMADA MasahikoUONV016905643063Kadokawa Shunju JimushoUONV263820650ITSOL20240220RICASIBA - SISTEMA BIBLIOTECARIO DI ATENEOUONSIUON00114975SIBA - SISTEMA BIBLIOTECARIO DI ATENEOSI GIA VI BA 677 N SI SA 99711 7 677 N fatt. 286-30949226 del 1.8.01Hogan sensei no shinshitsu tetsugaku1308764UNIOR