Nonsmooth Impact Mechanics

Models, Dynamics and Control

Bernard Brogliato (Autor)

Online Resource

XV, 402 Seiten

2005
Springer Berlin (Hersteller)
978-3-540-70681-6 (ISBN)

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The field of nonsmooth impact dynamics and its applications to the control of robotic systems is examined in this monograph. The mathematical foundations of the dynamics of systems of rigid bodies submitted to a set of unilateral constraints are introduced. Following on from this the macroscopic physical laws of shocks (restitution roles) are described and commented on. In view of the applications to feedback control, stability properties of trajectories of various types of measure differential equations are reviewed. This includes a general stability analysis framework suitable for a class of impacting robotic systems performing complete tasks. Finally, feedback control of manipulators subject to unilateral constraints (which consist of a class of hybrid systems) is studied.

Distributional model of impacts.- Approximating problems.- Variational principles.- Two bodies colliding.- Multiconstraint nonsmooth dynamics.- Generalized impacts.- Stability of solutions of impacting systems.- Feedback control.

Erscheint lt. Verlag	19.11.2005
Reihe/Serie	Engineering
	Engineering (R0)
	Lecture Notes in Control and Information Sciences
Zusatzinfo	XV, 402 p. 4 illus.
Verlagsort	Berlin
Sprache	englisch
Themenwelt	Technik ► Elektrotechnik / Energietechnik
Schlagworte	Control • Feedback • robot • stability
ISBN-10	3-540-70681-X / 354070681X
ISBN-13	978-3-540-70681-6 / 9783540706816
Zustand	Neuware