LEADER 04378nam 22006615 450 001 9910299757903321 005 20260810112918.0 010 $a9781447162513 010 $a144716251X 024 7 $a10.1007/978-1-4471-6251-3 035 $a(OCoLC)869215335 035 $a(MiFhGG)GVRL6VBU 035 $a(CKB)3710000000083339 035 $a(DE-He213)978-1-4471-6251-3 035 $a(EXLCZ)993710000000083339 100 $a20140103d2014 u| 0 101 0 $aeng 135 $aurun|---uuuua 181 $ctxt 182 $cc 183 $acr 200 10$aControl Design and Analysis for Underactuated Robotic Systems /$fby Xin Xin, Yannian Liu 205 $a1st ed. 2014. 210 1$aLondon :$cSpringer London :$cImprint: Springer,$d2014. 215 $a1 online resource (xvii, 319 pages) $cillustrations (some color) 225 0 $aGale eBooks 300 $aDescription based upon print version of record. 311 08$a9781447162506 311 08$a1447162501 320 $aIncludes bibliographical references and index. 327 $aFundamental 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. 330 $aThe 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. 606 $aAutomatic control 606 $aRobotics 606 $aAutomation 606 $aArtificial intelligence 606 $aControl and Systems Theory 606 $aControl, Robotics, Automation 606 $aArtificial Intelligence 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aAutomation. 615 0$aArtificial intelligence. 615 14$aControl and Systems Theory. 615 24$aControl, Robotics, Automation. 615 24$aArtificial Intelligence. 676 $a006.3 676 $a620 676 $a629.8 676 $a629.892 700 $aXin$b Xin$4aut$4http://id.loc.gov/vocabulary/relators/aut$0987546 702 $aLiu$b Yannian$c(Writer on automatic control) 801 0$bMiFhGG 801 1$bMiFhGG 906 $aBOOK 912 $a9910299757903321 996 $aControl Design and Analysis for Underactuated Robotic Systems$92257545 997 $aUNINA