Control Theory of Nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach

Hardcover | April 30, 1999

bySuguru Arimoto

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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 mechanicalsystems 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 robotarms 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.

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From the Publisher

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 mechanicalsystems and deals with the design of controller...

Suguru Arimoto is at University of Tokyo.

other books by Suguru Arimoto

Format:HardcoverDimensions:290 pages, 9.21 × 6.14 × 0.83 inPublished:April 30, 1999Publisher:Oxford University Press

The following ISBNs are associated with this title:

ISBN - 10:0198562918

ISBN - 13:9780198562917

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Table of Contents

1. Fundamentals of robot dynamics2. Stability of linear feedback control3. Quasi-natural potential and saturated-position feedback4. Model-based adaptive control5. Iterative learning control6. Nonlinear position-dependent circuits: another language for describing robot dynamics7. Advanced control for electromechanical systemsAppendixesReferencesIndex

Editorial Reviews

`this book concentrates primarily on Manipulator Robotics and should be of interest to the general readership of this journal'Robotica Volume 15