TY - BOOK AU - Wu,Jundong AU - Zhang,Pan AU - Meng,Qingxin AU - Wang,Yawu ED - SpringerLink (Online service) TI - Control of Underactuated Manipulators: Design and Optimization SN - 9789819908905 AV - TJ212-225 U1 - 629.8312 23 PY - 2023/// CY - Singapore PB - Springer Nature Singapore, Imprint: Springer KW - Control engineering KW - Robotics KW - Automation KW - System theory KW - Control theory KW - Control and Systems Theory KW - Control, Robotics, Automation KW - Systems Theory, Control N1 - Acceso multiusuario; 1. Introduction -- 2. Modeling and Characteristics Analysis of Underactuated Manipulators -- 3. Control of Vertical Underactuated Manipulator -- 4. Control of Planar Manipulator with a Passive First Joint -- 5. Control of Planar Underactuated Manipulator with an Active First Joint N2 - This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems UR - http://libcon.rec.uabc.mx:2048/login?url=https://doi.org/10.1007/978-981-99-0890-5 ER -