By Robert Seifried
Underactuated multibody platforms are exciting mechatronic structures, as they posses fewer regulate inputs than levels of freedom. a few examples are smooth lightweight versatile robots and articulated manipulators with passive joints. This ebook investigates such underactuated multibody structures from an built-in standpoint. This comprises all significant steps from the modeling of inflexible and versatile multibody structures, via nonlinear keep an eye on thought, to optimum method layout. The underlying theories and methods from those diversified fields are offered utilizing a self-contained and unified method and notation process. as a result, the publication specializes in purposes to massive multibody platforms with a number of levels of freedom, which require a mix of symbolical and numerical techniques. eventually, an built-in, optimization-based layout method is proposed, wherein either structural and regulate layout are thought of simultaneously. every one bankruptcy is supplemented through illustrated examples.
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