LEADER 03830oam  2200493   450 
001 9910299757903321
005 20190911103511.0
010   $a1-4471-6251-X
024 7 $a10.1007/978-1-4471-6251-3
035   $a(OCoLC)869215335
035   $a(MiFhGG)GVRL6VBU
035   $a(EXLCZ)993710000000083339
100   $a20131219d2014      uy             0
101 0 $aeng
135   $aurun|---uuuua
181   $ctxt
182   $cc
183   $acr
200 10$aControl design and analysis for underactuated robotic systems /$fXin Xin, Yannian Liu
205   $a1st ed. 2014.
210  1$aLondon :$cSpringer,$d2014.
215   $a1 online resource (xvii, 319 pages) $cillustrations (some color)
225 0 $aGale eBooks
300   $aDescription based upon print version of record.
311   $a1-4471-6250-1 
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   $aRobots$xControl systems
606   $aRobotics
615  0$aRobots$xControl systems.
615  0$aRobotics.
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