Wu J. Control of Underactuated Manipulators. Design and Optimization 2023 torrent

Textbook in PDF format

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.
Manipulators are one of the most typical type of mechanical systems in industrial scenes. As a class of manipulators, underactuated manipulators have the advantages of increasing the flexibility of the system, reducing costs and energy consumption, etc. Nowadays, with the aggravation of the energy shortage, the research on such systems has attracted more and more attention and has gradually become a new research hotspot. This chapter will provide a comprehensive review for the current state of the underactuated manipulators, including their categories in applications, research significance, system characteristics, and corresponding control methods. The aim is to help readers have a deeper understanding of the development history of such systems.
Introduction
Modeling and Characteristics Analysis of Underactuated Manipulators
Control of Vertical Underactuated Manipulator
Control of Planar Underactuated Manipulator with a Passive First Joint
Control of Planar Underactuated Manipulator with an Active First Joint
Control of Flexible Manipulator