Control of Mechanical Systems with Constraints
Compliant Control of Constrained Robot Manipulators
World Scientific Publishing Co Pte Ltd
Published on 1. September 1995
Book
Hardback
200 pages
978-981-02-0633-8 (ISBN)
Description
Along with advances in mechanics come possibilities of new applications. This book contributes to the area of stability of rotating elastic structures and control theory.
More details
Language
English
Place of publication
Singapore
Singapore
Target group
College/higher education
Professional and scholarly
Dimensions
Height: 220 mm
ISBN-13
978-981-02-0633-8 (9789810206338)
Copyright in bibliographic data is held by Nielsen Book Services Limited or its licensors: all rights reserved.
Schweitzer Classification
Persons
Content
Introduction; literature review; modelling manipulators as Hamiltonian systems - free Hamiltonian systems on manifolds, Hamiltonian systems with constraints; the control of constrained Hamiltonian systems - the control of the contact force, the control of compliant motion; the required torque input - special constraint function; general constraint functions; applications of the control laws to example models; stabilization of the constraint surface for the example models; simulation.