Seifried R. Dynamics of Underactuated Multibody Systems: Modeling, Control and Optimal Design

Springer International Publishing Switzerland 2014. XI, 249 p. 81 illus., 5 illus. in color. — ISBN: 978-3-319-01227-8, ISBN: 978-3-319-01228-5 (eBook), DOI 10.1007/978-3-319-01228-5.Fully self-contained treatment of underactuated and flexible multibody systemsInterdisciplinary content from mechanics, nonlinear control and optimization is presented in an unified form and notationEach chapter is accompanied by one or several illustrative examplesAll necessary data and detailed results are provided, such that these can be used as benchmark problems.Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.Content Level » Research
Keywords » Flexible Multibody Systems - Mechatronics - Nonlinear Control - Robotics - Structural Optimization
Related subjects » Classical Continuum Physics - Mechanics - RoboticsMultibody Systems
Feedback Linearization and Model Inversion of Nonlinear Systems
Trajectory Tracking of Multibody Systems
Model Inversion Using Servo-Constraints
Trajectory Tracking of Flexible Multibody Systems
Optimal System Design
Concluding Remarks