Advanced Dynamics and Control of Structures and Machines

✍ Scribed by Hans Irschik, Kurt Schlacher (eds.)

• Publisher: Springer-Verlag Wien
• Year: 2004
• Tongue: English
• Leaves: 284
• Series: International Centre for Mechanical Sciences 444
• Edition: 1
• Category: Library

✦ Synopsis

This book, intended for people in engineering and fundamental sciences, presents an integrated mathematical methodology for advanced dynamics and control of structures and machines, ranging from the derivation of models up to the control synthesis problem. This point of view is particularly useful as the physical insight and the associated structural properties, related e.g. to the Lagrangian or Hamiltonian framework, can be advantageously utilized. To this end, up to date results in disciplines like continuum mechanics, analytical mechanics, thermodynamics and electrodynamics are presented exploiting the differential geometric properties, with the basic notions of this coordinate-free approach revisited in an own chapter. In order to illustrate the proposed methodologies, several industrial applications, e.g., the derivation of exact solutions for the deformation compensation by shaped actuation in elastic bodies, or the coordination of rigid and flexible joint robots, are discussed.

✦ Table of Contents

Front Matter....Pages ii-vii
Basics of Continuum Mechanics....Pages 1-8
A Treatise on the Equations of Balance and on the Jump Relations in Continuum Mechanics....Pages 9-20
The Rayleigh-Ritz Technique and the Lagrange Equations in Continuum Mechanics: Formulations for Material and Non-Material Volumes....Pages 21-35
Basics of Analytical Mechanics....Pages 37-52
Compensation of Deformations in Elastic Solids and Structures in the Presence of Rigid-Body Motions....Pages 53-63
Computational Dynamics of an Elasto-Plastic Structural Element With Rigid-Body Degrees-of-Freedom....Pages 65-76
High Frequency Dynamics of Engineering Structures....Pages 77-96
Basic Differential Geometry for Mechanics and Control....Pages 97-125
Port-Hamiltonian Systems: Network Modeling and Control of Nonlinear Physical Systems....Pages 127-167
Periodic Motion Induced by the Painlevé Paradox....Pages 169-194
Coordination of Rigid and Flexible Joint Robot Manipulators....Pages 195-215
Structural Control for Dynamic Hazard Mitigation....Pages 217-248
Some Applications of Differential Geometry in Control....Pages 249-260
Some Applications of Differential Geometry in Mechanics....Pages 261-281

✦ Subjects

Complexity; Theoretical and Applied Mechanics; Machinery and Machine Elements; Control, Robotics, Mechatronics; Systems Theory, Control; Mathematical Methods in Physics