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Author: Robert Seifried
Publisher: Springer Science & Business Media
ISBN: 3319012282
Category : Technology & Engineering
Languages : en
Pages : 257
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Book Description
Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Author: Robert Seifried
Publisher: Springer Science & Business Media
ISBN: 3319012282
Category : Technology & Engineering
Languages : en
Pages : 257
Get Book Here
Book Description
Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Author: Robert Seifried
Publisher: Springer
ISBN: 9783319012278
Category : Technology & Engineering
Languages : en
Pages : 249
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Book Description
Underactuated multibody systems are intriguing mechatronic systems, as they posses fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.
Author: Abhinandan Jain
Publisher: Springer Science & Business Media
ISBN: 1441972676
Category : Technology & Engineering
Languages : en
Pages : 512
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Book Description
Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.
Author: Ströhle, Timo
Publisher: KIT Scientific Publishing
ISBN: 3731513366
Category :
Languages : en
Pages : 174
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Book Description
This work is about the inverse dynamics of underactuated flexible mechanical systems governed by quasi-linear hyperbolic partial differential equations subjected to time-varying Dirichlet boundary conditions that are enforced by unknown, spatially disjunct, hence non-collocated Neumann boundary conditions.
Author: Sangbum Cho
Publisher:
ISBN:
Category :
Languages : en
Pages : 290
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Book Description
Author: Krzysztof Arczewski
Publisher: Springer Science & Business Media
ISBN: 9048199719
Category : Technology & Engineering
Languages : en
Pages : 330
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Book Description
The ECCOMAS Thematic Conference “Multibody Dynamics 2009” was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.
Author: Andrés Kecskeméthy
Publisher: Springer
ISBN: 3030231321
Category : Technology & Engineering
Languages : en
Pages : 544
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Book Description
In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.
Author: Yang, Yinping
Publisher: KIT Scientific Publishing
ISBN: 3731506262
Category : Technology (General)
Languages : en
Pages : 256
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Book Description
The present work deals with the inverse dynamics simulation of underactuated multibody systems. In particular, the study focuses on solving trajectory tracking control problems of differentially flat underactuated systems. The use of servo constraints provides an approach to formulate trajectory tracking control problems of underacutated systems, which are also called underactuated servo constraint problems.
Author: Xiaoting Rui
Publisher: Springer Nature
ISBN: 9819980488
Category :
Languages : en
Pages : 4383
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Book Description
Author: Evtim Zahariev
Publisher: Springer
ISBN: 3030005275
Category : Technology & Engineering
Languages : en
Pages : 218
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Book Description
This volume, which brings together research presented at the IUTAM Symposium Intelligent Multibody Systems – Dynamics, Control, Simulation, held at Sozopol, Bulgaria, September 11-15, 2017, focuses on preliminary virtual simulation of the dynamics of motion, and analysis of loading of the devices and of their behaviour caused by the working conditions and natural phenomena. This requires up-to-date methods for dynamics analysis and simulation, novel methods for numerical solution of ODE and DAE, real-time simulation, passive, semi-passive and active control algorithms. Applied examples are mechatronic (intelligent) multibody systems, autonomous vehicles, space structures, structures exposed to external and seismic excitations, large flexible structures and wind generators, robots and bio-robots. The book covers the following subjects: -Novel methods in multibody system dynamics; -Real-time dynamics; -Dynamic models of passive and active mechatronic devices; -Vehicle dynamics and control; -Structural dynamics; -Deflection and vibration suppression; -Numerical integration of ODE and DAE for large scale and stiff multibody systems; -Model reduction of large-scale flexible systems. The book will be of interest for scientists and academicians, PhD students and engineers at universities and scientific institutes.
