By Xin Xin,Yannian Liu
The final 20 years have witnessed huge growth within the examine of underactuated robot platforms (URSs). Control layout and research for Underactuated Robotic Systems offers a unified remedy of keep an eye on layout and research for a category of URSs, which come with structures with multiple-degree-of-freedom and/or with underactuation measure . It provides novel notions, positive aspects, layout ideas and strictly worldwide movement research effects for those platforms. those new fabrics are proven to be important in learning the keep an eye on layout and balance research of URSs.
Control layout and research for Underactuated robot Systems contains the modelling, keep watch over layout and research awarded in a scientific method quite for the subsequent examples:
l without delay 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 by means of 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 zone of regulate platforms, mechanical and robotics structures, nonlinear platforms and oscillation. this article will not just let the reader to achieve a greater realizing of the ability and basic obstacles of linear and nonlinear keep watch over idea for the keep an eye on layout and research for those URSs, but additionally motivate the reader to handle the demanding situations of extra advanced 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