ENGLISH

Nonsmooth Impact Mechanics: Models, Dynamics and Control

By Bernard Brogliato

Book information

Publisher
Springer
Year
1996
ISBN
3540760792, 9783540760795
LCC
TA354 .B76 1996
Language
english
Format
PDF
Filesize
9 MB (9751958 bytes)
Series
Lecture Notes in Control and Information Sciences
Edition
1
Pages
418\418
Orientation
yes
Scanned
yes
Time added
2012-02-04 16:00:00

Description

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.

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