Control of Underactuated Manipulators: Design and Optimization
Wu, Jundong, Zhang, Pan, Meng, Qingxin
- 出版商: Springer
- 出版日期: 2024-05-15
- 售價: $6,360
- 貴賓價: 9.5 折 $6,042
- 語言: 英文
- 頁數: 292
- 裝訂: Quality Paper - also called trade paper
- ISBN: 9819908922
- ISBN-13: 9789819908929
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商品描述
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.
商品描述(中文翻譯)
本書詳細探討了欠驅動機械臂控制的尖端技術，這是機器人領域的前沿議題，在能源節約和工業應用的容錯性方面具有重要意義。它也是與特殊環境中的系統相關的關鍵技術，包括水下或航空航天環境。到目前為止，欠驅動機械臂控制的話題已經吸引了來自應用物理、材料、自動化和機器人等各個學科的工程師和科學家。本書追求一種整體的方法，建立了這個話題的基本框架，同時強調在欠驅動機械臂控制中設計和優化的重要性。本書的章節涵蓋了各種機械臂系統，包括垂直欠驅動機械臂、平面欠驅動機械臂（具有一階非完整約束）、平面欠驅動機械臂（具有二階非完整約束）和柔性欠驅動機械臂。本書適用於對欠驅動機械臂感興趣的本科生和研究生，研究欠驅動機械臂控制器設計和優化的研究人員，以及從事欠驅動系統工作的工程師。
作者簡介
Jundong Wu
Dr. Jundong Wu was born in Hunan, China, in 1992. He received the B.S. degree in microelectronics from the School of Electronics Engineering and Computer Science, Peking University, Beijing, China, in 2014, and the M.S. degree in electrical engineering from the School of Engineering and Applied Sciences, Harvard University, Cambridge, the United States, in 2017, and the Ph.D. degree in mechanical engineering from the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Canada, in 2022.
In 2022, he joined the School of Automation, China University of Geosciences as a Professor. His current research interests include underactuated robot control, soft robot modeling and control, and nonlinear system control, in which he has over 20 paper publications. He currently owns 3 research projects, funded by the National Natural Science Foundation of China and the China Postdoctoral Science Fund. He was also elected into the Talent Plan of Hubei Province.
Pan Zhang
Dr. Pan Zhang received the B.S. and Ph.D. degree in engineering from China University of Geosciences, Wuhan, China, in 2015 and 2020, respectively.
From 2017 to 2020, she was a Research Intern with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada. In 2020, she joined the School of Automation, China University of Geosciences, where she is currently an Associate Professor. Her current research interests include underactuated robot control, nonlinear system control and intelligent control.
Qingxin Meng
Dr. Qingxin Meng received the B.S. degree in engineering from the Hebei University of Technology, Tianjin, China, in 2016, and the Ph.D. degree in engineering from the China University of Geosciences, Wuhan, China, in 2021.
From 2019 to 2021, he was a Research Intern with the Departmentof Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada. In 2022, he joined the School of Automation, China University of Geosciences, where he is currently a Professor. His current research interests include flexible robot control, vibration control and nonlinear system control.
Yawu Wang
Dr. Yawu Wang received the B.S. and M.S. degrees in engineering from the Hubei University of Technology, Wuhan, China, in 2011 and 2015, respectively, and the Ph.D. degree in engineering from the China University of Geosciences, Wuhan, China, in 2018.
He was a joint doctoral student with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada, from 2017 to 2018. In 2019, he joined the School of Automation, China University of Geosciences, where he is currently a Professor. His current research interests include underactuated robot control, soft robot modeling and control, and intelligent control.
作者簡介(中文翻譯)
吳俊東博士
吳俊東博士於1992年出生於中國湖南省。他於2014年獲得北京大學電子工程與計算機科學學院微電子學士學位，2017年獲得哈佛大學工程與應用科學學院電氣工程碩士學位，以及2022年獲得康考迪亞大學機械、工業和航空工程系機械工程博士學位。
2022年，他加入中國地質大學自動化學院擔任教授。他目前的研究興趣包括非完全驅動機器人控制、軟機器人建模與控制以及非線性系統控制，並已發表超過20篇論文。他目前擁有3個研究項目，由中國國家自然科學基金和中國博士後科學基金資助。他還當選為湖北省人才計劃成員。
張攀博士
張攀博士於2015年和2020年分別獲得中國地質大學工程學士和博士學位。
從2017年到2020年，她在加拿大蒙特利爾康考迪亞大學機械、工業和航空工程系擔任研究實習生。2020年，她加入中國地質大學自動化學院，目前擔任副教授。她目前的研究興趣包括非完全驅動機器人控制、非線性系統控制和智能控制。
孟慶新博士
孟慶新博士於2016年獲得河北工業大學工程學士學位，2021年獲得中國地質大學工程博士學位。
從2019年到2021年，他在加拿大蒙特利爾康考迪亞大學機械、工業和航空工程系擔任研究實習生。2022年，他加入中國地質大學自動化學院，目前擔任教授。他目前的研究興趣包括柔性機器人控制、振動控制和非線性系統控制。
王亞武博士
王亞武博士於2011年和2015年分別獲得湖北工業大學工程學士和碩士學位，以及2018年獲得中國地質大學工程博士學位。
他於2017年至2018年期間在加拿大蒙特利爾康考迪亞大學機械、工業和航空工程系作為聯合博士生。2019年，他加入中國地質大學自動化學院，目前擔任教授。他目前的研究興趣包括非完全驅動機器人控制、軟機器人建模與控制以及智能控制。
