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 structures. The textual content offers with the implications of an absence of a normal thought that will permit methodical therapy of such platforms and the advert hoc method of keep an eye on layout that frequently effects, implementing a degree of association at any time when the latter is lacking.
The authors take as their place to begin the development of a graphical characterization or keep an eye on movement diagram reflecting the transmission of generalized forces throughout the levels of freedom. Underactuated structures are categorized in line with the 3 major constructions through which this can be chanced on to happen—chain, tree, and remoted vertex—and keep watch over layout methods proposed. The process is utilized to numerous recognized examples of underactuated structures: acrobot; pendubot; Tora method; ball and beam; inertia wheel; and robot arm with elastic joint.
The textual content is illustrated with MATLAB®/Simulink® simulations that show the effectiveness of the equipment detailed.
Readers drawn to plane, motor vehicle keep an eye on or quite a few varieties of strolling robotic should be in a position to research from Underactuated Mechanical Systems tips on how to estimate the measure of complexity required within the keep watch over layout of a number of periods of underactuated structures and continue directly to additional generate extra systematic keep an eye on legislation in keeping with its equipment of analysis.
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Extra info for Analysis and Control of Underactuated Mechanical Systems
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Analysis and Control of Underactuated Mechanical Systems by Amal Choukchou-Braham, Brahim Cherki, Mohamed Djemaï, Krishna Busawon