By Xin Xin,Yannian Liu
The final 20 years have witnessed massive development within the learn of underactuated robot platforms (URSs). Control layout and research for Underactuated Robotic Systems provides a unified therapy of keep watch over layout and research for a category of URSs, which come with structures with multiple-degree-of-freedom and/or with underactuation measure . It offers novel notions, gains, layout ideas and strictly worldwide movement research effects for those structures. those new fabrics are proven to be important in learning the regulate layout and balance research of URSs.
Control layout and research for Underactuated robot Systems contains the modelling, keep an eye on layout and research offered in a scientific method rather for the next examples:
l at once and remotely pushed Acrobots
l rotational pendulum
l counter-weighted Acrobot
2-link underactuated robotic with versatile elbow joint
l variable-length pendulum
l 3-link gymnastic robotic with passive first joint
l n-link planar robotic with passive first joint
l n-link planar robotic with passive unmarried joint
double, or parallel pendulums on a cart
l 3-link planar robots with underactuation measure two
2-link loose flying robot
The theoretical advancements are confirmed through experimental effects for the remotely pushed Acrobot and the rotational pendulum.
Control layout and research for Underactuated Robotic Systems is meant for complicated undergraduate and graduate scholars and researchers within the sector of keep an eye on platforms, mechanical and robotics platforms, nonlinear platforms and oscillation. this article will not just let the reader to achieve a greater knowing of the ability and basic boundaries of linear and nonlinear keep watch over conception for the regulate layout and research for those URSs, but additionally encourage the reader to deal with the demanding situations of extra complicated URSs.
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Extra info for Control Design and Analysis for Underactuated Robotic Systems
Control Design and Analysis for Underactuated Robotic Systems by Xin Xin,Yannian Liu