Nonsmooth impact mechanics : models, dynamics, and control
The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic phy...
Zapisane w:
| 1. autor: | |
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| Format: | Livre numérique |
| Język: | Anglais |
| Wydane: |
Berlin [etc.] :
Springer-Verlag : Springer e-books
[20..].
Cham : Springer Nature |
| Seria: | Lecture notes in control and information sciences
220 |
| Hasła przedmiotowe: | |
| Dostęp online: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Komentarz: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Nonsmooth impact mechanics, models, dynamics, and control, Bernard Brogliato, London, Springer, 1996, 1 volume (xv-400 pages), Lecture notes in control and information sciences, 3-540-76079-2 • Nonsmooth Impact Mechanics, Texte imprimé, 9783662169865 |
| Streszczenie: | The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic physical laws of shocks (restitution roles) are described and commented on. In view of the applications to feedback control, stability properties of trajectories of various types of measure differential equations are reviewed. This includes a general stability analysis framework suitable for a class of impacting robotic systems performing complete tasks. Finally, feedback control of manipulators subject to unilateral constraints (which consist of a class of hybrid systems) is studied. |
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| Deskrypcja: | Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| ISBN: | 9783540706816 (PDF) |
| ISSN: | 1610-7411 |
| Ograniczenie dostępu: | Accès en ligne pour les établissements français bénéficiaires des licences nationales Accès soumis à abonnement pour tout autre établissement Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 |