Fr. 210.00

Control Theory of Nonlinear Mechanical Systems - A Passivity-Based and Circuit-Theoretic Approach

English · Hardback

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Zusatztext this book concentrates primarily on Manipulator Robotics and should be of interest to the general readership of this journal Klappentext Robot arms are found in almost every modern manufacturing plant in the world, but their limited dexterity creates problems for their efficient control. Understanding these problems in advance is vital in robotic design. This book concerns itself with the theory and practice of these control problems. It will be of great interest to all robotic researchers and engineers. Zusammenfassung Robot arms are now found in many manufacturing plants. The mechanical construction of these arms is well understood, but their very dexterity makes the problem of their efficient control a considerable one. This book concerns itself with the theory and practise of these control problems. Inhaltsverzeichnis 1: Fundamentals of robot dynamics 2: Stability of linear feedback control 3: Quasi-natural potential and saturated-position feedback 4: Model-based adaptive control 5: Iterative learning control 6: Nonlinear position-dependent circuits: another language for describing robot dynamics 7: Advanced control for electromechanical systems Appendixes References Index

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