Control Theory of Nonlinear Mechanical Systems

Suguru Arimoto

ISBN 10: 0198562918 / ISBN 13: 9780198562917

Published by Oxford University Press, GB, 1996

About this Item

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.

Seller Inventory # LU-9780198562917

Bibliographic Details

• Title: Control Theory of Nonlinear Mechanical Systems
• Publisher: Oxford University Press, GB
• Publication Date: 1996
• Language: English
• ISBN 10: 0198562918
• ISBN 13: 9780198562917
• Binding: Hardback
• Edition: Illustrated.
• Condition: New
• Dimensions: 15.88W x 2.12H x 24.13D centimeters 15.88 centimeters width by 2.12 centimeters height by 24.13 centimeters depth
• Weight: 558 grams

About this title

Synopsis

Robot arms are found in almost every modern manufacturing plant in the world, but their limited dexterity creates problems for their efficient control. Understanding these problems in advance is vital in robotic design. This book concerns itself with the theory and practice of these control problems. It will be of great interest to all robotic researchers and engineers.

About the Author

Suguru Arimoto is a Professor in the Faculty of Engineering, University of Tokyo.