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Multibody System Dynamics, Robotics and Control

✍ Scribed by Francisco Geu Flores, Andrés Kecskeméthy (auth.), Hubert Gattringer, Johannes Gerstmayr (eds.)

Publisher
Springer-Verlag Wien
Year
2013
Tongue
English
Leaves
315
Edition
1
Category
Library
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✦ Synopsis

The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

✦ Table of Contents

Front Matter....Pages i-x
Time-Optimal Path Planning Along Specified Trajectories....Pages 1-16
Efficient Online Computation of Smooth Trajectories Along Geometric Paths for Robotic Manipulators....Pages 17-30
Constraint and Dynamic Analysis of Compliant Mechanisms with a Flexible Multibody Modelling Approach....Pages 31-43
Sensor Data Fusion for the Localization and Position Control of One Kind of Omnidirectional Mobile Robots....Pages 45-73
Modelling and Control of Infinite-Dimensional Mechanical Systems: A Port-Hamiltonian Approach....Pages 75-93
Passivity-Based Tracking Control of a Flexible Link Robot....Pages 95-112
Norm-Optimal Iterative Learning Control for a Pneumatic Parallel Robot....Pages 113-128
Balance and Posture Control for Biped Robots....Pages 129-143
Robot-Based Testing of Total Joint Replacements....Pages 145-160
Dynamics and Control of the Biped Robot Lola....Pages 161-173
Automated Kinematics Reasoning for Wheeled Mobile Robots....Pages 175-191
Automatic Parameter Identification for Mechatronic Systems....Pages 193-212
Crane Operators Training Based on the Real-Time Multibody Simulation....Pages 213-229
On a Momentum Based Version of Lagrange’s Equations....Pages 231-242
Vibration Control and Structural Damping of a Rotating Beam by Using Piezoelectric Actuators....Pages 243-257
Multibody Dynamics Approaches to Biomechanical Applications to Human Motion Tasks....Pages 259-289
Application Examples of Wire Robots....Pages 291-310
Back Matter....Pages 311-314

✦ Subjects

Vibration, Dynamical Systems, Control; Control, Robotics, Mechatronics

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