CONTROL THEORY OF NONLINEAR MECHANICAL SYSTEMS by Suguru Arimoto ( 9780198562917 )

Item Details

Title:

CONTROL THEORY OF NONLINEAR MECHANICAL SYSTEMS
A PASSIVITY-BASED AND CIRCUIT-THEORETIC APPROACH

By:

Suguru Arimoto

Format:

Hardback

List price:

£127.50

Our price:

£111.56

Discount:

12.5% off

You save:

£15.94

ISBN 10:

0198562918

ISBN 13:

9780198562917

Availability:

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Publisher:

OXFORD UNIVERSITY PRESS

Pub. date:

19 September, 1996

Series:

Oxford Engineering Science Series 49

Pages:

290

Description:

You will find robot arms and mechanical hands in almost every modern manufacturing plant in the world. However the problem of their efficient control is a considerable one due to their limtited dexterity and understanding the control of robotic motion is vital in their design. This book concerns itself with the theory and practise of these control problems. It devotes itself to the analysis of the physical and mathematical principles underlying such complicateddynamics in nonlinear mechanical systems and to the design of controllers that make the systems execute sophisticated tasks. This book marks a milestone not only in the development of a control theory for advanced mechatronic systems but also in the long path toward understanding the mysteries ofmotor control in the human central nervous system.

Synopsis:

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 prinicples underlying the complicated dynamics of non-linear mechanical systems and deals with the design of controllers that enable sophisticated tasks to be executed. A new concept called 'non-linear position-dependent circuits' plays a crucial role, 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. This approach may mark a milestone not only in development of a control theory for advanced mechatronics systems but also in the long path toward understanding the mysteries of motor control in the human central nervous system.

Illustrations:

numerous line figures

Publication:

Imprint:

Clarendon Press

Returns:

Returnable

Some other items by this author:

CONTROL THEORY OF MULTI-FINGERED HANDS (PB)