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Control of underactuated manipulatorsdesign and optimization /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Control of underactuated manipulatorsby Jundong Wu ... [et al.].
Reminder of title:	design and optimization /
other author:	Wu, Jundong.
Published:	Singapore :Springer Nature Singapore :2023.
Description:	1 online resource (xv, 292 p.) :ill. (some col.), digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Manipulators (Mechanism)
Online resource:	https://doi.org/10.1007/978-981-99-0890-5
ISBN:	9789819908905$q(electronic bk.)

Control of underactuated manipulatorsdesign and optimization /
Control of underactuated manipulatorsdesign and optimization /[electronic resource] :by Jundong Wu ... [et al.]. - Singapore :Springer Nature Singapore :2023. - 1 online resource (xv, 292 p.) :ill. (some col.), digital ;24 cm.

1. Introduction -- 2. Modeling and Characteristics Analysis of Underactuated Manipulators -- 3. Control of Vertical Underactuated Manipulator -- 4. Control of Planar Manipulator with a Passive First Joint -- 5. Control of Planar Underactuated Manipulator with an Active First Joint.

This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.

ISBN: 9789819908905$q(electronic bk.)

Standard No.: 10.1007/978-981-99-0890-5doiSubjects--Topical Terms:

238424
Manipulators (Mechanism)

LC Class. No.: TJ211

Dewey Class. No.: 629.8933

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505 0 $a 1. Introduction -- 2. Modeling and Characteristics Analysis of Underactuated Manipulators -- 3. Control of Vertical Underactuated Manipulator -- 4. Control of Planar Manipulator with a Passive First Joint -- 5. Control of Planar Underactuated Manipulator with an Active First Joint.
520 $a This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
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