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Control theory of non-linear mechanical systems / Arimoto , Suguru

Public ISBD Titre : Control theory of non-linear mechanical systems : a passivity-based and circuit-theoretic approach Type de document : texte imprimé Auteurs : Arimoto , Suguru, Auteur Editeur : Oxford : Oxford university press Année de publication : 1996 Importance : XI-280 p. Présentation : ill. Format : 23 cm. ISBN/ISSN/EAN : 978-0-19-856291-7 Note générale : Index Langues : Anglais (eng) Mots-clés : Systeme  commande  non-linéaire Index. décimale : 681.511.4 Systèmes de commande non linéaires Résumé : This book introduces a new framework for non-linear analysis and control of intelligent machines such as robot arms, mechanical hands, and other advanced mechatronic systems. It clarifies the physical and mathematical principales underlying the complicated of non -linear mechanical systems and deal with the design of controllers that enable sophisticates tasks to be executed. A new concept called 'non - linear podition-dependent circuits' plays a crucial rol, together with passivity analysis as a generalization of the impedance concept. Adaptability and learnability of robot arms and hands as intelligent machines are also analysed through visible expressions of their dynamics via corresponding non-linear circuits and generalized impedance concepts. Note de contenu : Contents: *Fundamentals of robot dynamics *Stability of linear feedback control *Quasi - natural potential and saturated - position feedback *Model - based adaptive control *Iterative learning control *Non - linear position- dependent circuits ; another language for describing robot dynamics *Advaced control for electromachanical systems Control theory of non-linear mechanical systems : a passivity-based and circuit-theoretic approach [texte imprimé] / Arimoto , Suguru, Auteur . - Oxford : Oxford university press, 1996 . - XI-280 p. : ill. ; 23 cm. ISBN : 978-0-19-856291-7 Index Langues : Anglais (eng) Mots-clés : Systeme  commande  non-linéaire Index. décimale : 681.511.4 Systèmes de commande non linéaires Résumé : This book introduces a new framework for non-linear analysis and control of intelligent machines such as robot arms, mechanical hands, and other advanced mechatronic systems. It clarifies the physical and mathematical principales underlying the complicated of non -linear mechanical systems and deal with the design of controllers that enable sophisticates tasks to be executed. A new concept called 'non - linear podition-dependent circuits' plays a crucial rol, together with passivity analysis as a generalization of the impedance concept. Adaptability and learnability of robot arms and hands as intelligent machines are also analysed through visible expressions of their dynamics via corresponding non-linear circuits and generalized impedance concepts. Note de contenu : Contents: *Fundamentals of robot dynamics *Stability of linear feedback control *Quasi - natural potential and saturated - position feedback *Model - based adaptive control *Iterative learning control *Non - linear position- dependent circuits ; another language for describing robot dynamics *Advaced control for electromachanical systems

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Code-barres	Cote	Support	Localisation	Section	Disponibilité	Etat_Exemplaire
042955	681.511.4 ARI	Papier	Bibliothèque Centrale	Automatique	Disponible