欠驅動機械臂控制-設計與優化吳俊東張盼孟慶鑫王亞午 9787030768476 【台灣高等教育出版社】

Name: 欠驅動機械臂控制-設計與優化 吳俊東 張盼 孟慶鑫 王亞午 9787030768476 【台灣高等教育出版社】
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書名：欠驅動機械臂控制-設計與優化
ISBN：9787030768476
出版社：科學
著編譯者：吳俊東張盼孟慶鑫王亞午
頁數：308
所在地：中國大陸 *此為代購商品
書號：1595124
可大量預訂，請先連絡。

內容簡介

本書從欠驅動機械臂動力學建模和運動特性分析入手，詳細介紹垂直欠驅動機械臂、平面欠驅動機械臂、柔性機械臂的控制策略等內容。全書共6章：第1章是緒論，介紹欠驅動機械臂的構型，回顧欠驅動機械臂的控制與優化設計方法。第2章建立欠驅動機械臂的運動學與動力學模型，分析欠驅動機械臂的運動特性。第3章提出垂直欠驅動機械臂的控制與優化設計方法，實現垂直欠驅動機械臂的搖起與平衡控制目標。第4章給出第一關節為被動的平面欠驅動機械臂（具有一階非完整約束）的控制與優化設計方法。第5章介紹第一關節有驅動器的平面欠驅動機械臂（具有二階非完整約束）的控制與優化設計方法。第6章介紹柔性欠驅動機械臂的控制與優化設計方法，闡述柔性關節和柔性連桿欠驅動機械臂的控制策略。

作者簡介

Yawu Wang received a B S and M S degrees inengineering from the Hubei University of Technology，Wuhan，China，in 2011 and 2015，respectively，and a Ph D degree in engineering from the China University of Geosciences，Wuhan，China，in 2018 He was a joint doctoral student with the Depart-ment of Mechanical，Industrial and Aerospace Engi-neering，Concordia University，Montreal，QC，Canada，from 2017 to 2018 In 2019，he joined the School of Automation，China University of Geosciences，wherehe is currently a Professor His current research interestsinclude underactuated robotcontrol，soft robot modelingand control，and intelligent control

1 Introduction
1 1 Underactuated Manipulators
1 2 Characteristic Analysis
1 3 Control Method Design
1 3 1 Energy Based Control
1 3 2 Sliding Mode Control
1 3 3 Backstepping Control
1 3 4 Partial Feedback Linearization Control
1 3 5 Approximate Linearization Control
1 3 6 Model ReductionControl
1 4 Intelligent and Optimization Control
1 4 1 Fuzzy Control
1 4 2 Neural Network Control
1 4 3 Optimization-Based Control
1 5 Organization of This Book
References
2 Modeling and Characteristics Analysis of Underactuated Manipulators
2 1 Dynamic Modeling of Typical Underactuated Manipulators
2 1 1 The Inertia Wheel Pendulum Manipulator
2 1 2 Two-Link Underactuated Manipulator
2 1 3 Multi-link Underactuated Manipulator
2 1 4 Flexible Manipulator
2 2 Characteristics Analysis of Underactuated Mechanical System
2 2 1 Dynamics Analysis
2 2 2 Controllability Analysis
2 3 Conclusions
References
3 Control of Vertical Underactuated Manipulator
3 1 ALyapunov-Based Unified ControlStrategy
3 1 1 Dynamic Model
3 1 2 Control Strategy for the Swing-Up Area
3 1 3 Control Strategy for the Attractive Area
3 1 4 Local and Global Stability Analysis
3 1 5 Simulation Results
3 2 ARewinding Approach-Based Control Strategy
3 2 1 Modelingand Analysis
3 2 2 Motion Planning
3 2 3 Trajectory Tracking Control
3 2 4 Simulation Results
3 3 Stable Control of Three-Link Underactuated Manipulators
3 3 1 Model and Division of Motion Space
3 3 2 Swing-Up Controller Design
3 3 3 Singularity Avoidancein Swing-Up Controller
3 3 4 Balance Controller Design
3 3 5 SimulationResults
3 4 StableControlofn-Link Underactuated Manipulators
3 4 1 Dynamic Model and Analysis
3 4 2 Controller Designin Stage
3 4 3 ControllerDesignin Stage
3 4 4 Simulation Results
3 5 Conclusions
References
4 Control of Planar Underactuated Manipulator with a Passive First Joint
4 1 Motion-State Constraint Analysis
4 1 1 Integrability
4 1 2 Motion-StateConstraint on AngularVelocities
4 1 3 Motion-StateConstraint on Angles
4 2 Motion-State Constraint-Based Control of Planar Acrobot
4 2 1 Motion Characteristic Analysis
4 2 2 Motion Optimization
4 2 3 Controller Design
4 2 4 Simulation Results
4 3 Stable Control of Planar Three-Link PAA Manipulator
4 3 1 Motion Strategy of Anglesto Target Values
4 3 2 PSO-BasedTarget Angle Optimization
4 3 3 Target Angle-Based Controllers Design
4 3 4 SimulationResults
4 4 Two-Stage Control of Planarn-Link PAA Manipulator
4 4 1 Controllers Designof Stage1 for Model Reduction
4 4 2 Controllers Design of Stage
4 4 3 GA-PSO-BasedTarget Angle Optimization
4 4 4 SimulationResults
4 5 Intelligent Optimization-Based Continuous ControlMethod
4 5 1 ProblemFormulation
4 5 2 Continuous Controller Designfor Active Joints
4 5 3 Optimization of Design Parameters and Target Angles
4 5 4 Simulation Results
4 6 Nonlinear MPC-Based Robust Control Method
4 6 1 ProblemFormulation
4 6 2 ControlIdea
4 6 3 Nonlinear Model Predictive Control-Based Motion Planning
4 6 4 FastTerminal Sliding Mode Controller Design
4 6 5 SimulationResults
4 7 OnlineIterative Correction-Based Robust Control Method
4 7 1 Uncertain Model
4 7 2 Uncertain Planar Virtual PAA System
4 7 3 Controller Design for Model Reduction
4 7 4 Control of Planar Virtual PAA System
4 7 5 OnlineIterative Correction
4 7 6 Simulation Results
4 8 Conclusions
References
5 Control of Planar Underactuated Manipulator with an Active First Joint
5 1 Fourier Transformation-Based Control Method for Planar Pendubot
5 1 1 Dynamic Modelof Planar Pendubot
5 1 2 Controllers Des
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