By Amal Choukchou-Braham,Brahim Cherki,Mohamed Djemaï,Krishna Busawon
This monograph offers readers with instruments for the research, and keep an eye on of platforms with fewer regulate inputs than levels of freedom to be managed, i.e., underactuated platforms. The textual content bargains with the results of an absence of a common idea that may enable methodical therapy of such structures and the advert hoc method of keep watch over layout that regularly effects, enforcing a degree of association every time the latter is lacking.
The authors take as their start line the development of a graphical characterization or keep an eye on circulate diagram reflecting the transmission of generalized forces in the course of the levels of freedom. Underactuated structures are categorized in line with the 3 major buildings through which this can be came upon to happen—chain, tree, and remoted vertex—and keep watch over layout approaches proposed. The technique is utilized to numerous famous examples of underactuated structures: acrobot; pendubot; Tora approach; ball and beam; inertia wheel; and robot arm with elastic joint.
Readers drawn to plane, automobile regulate or a number of sorts of jogging robotic should be in a position to examine from Underactuated Mechanical Systems tips on how to estimate the measure of complexity required within the keep watch over layout of numerous sessions of underactuated platforms and continue directly to additional generate extra systematic regulate legislation in keeping with its tools of analysis.
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Extra info for Analysis and Control of Underactuated Mechanical Systems
Analysis and Control of Underactuated Mechanical Systems by Amal Choukchou-Braham,Brahim Cherki,Mohamed Djemaï,Krishna Busawon