| 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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