Modeling and IPC control of interactive mechanical systems : a coordinate-free approach /

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Bibliographic Details
Author / Creator:	Stramigioli, Stefano, 1968-
Edition:	1st ed.
Imprint:	London ; New York : Springer, 2001.
Description:	1 online resource (xiii, 278 pages) : illustrations.
Language:	English
Series:	Lecture notes in control and information sciences, 0170-8643 ; 266 Lecture notes in control and information sciences ; 266.
Subject:	Robots -- Control systems. Automatic control -- Mathematical models. Automatic control -- Mathematical models. Robots -- Control systems.
Format:	E-Resource Book
URL for this record:	http://pi.lib.uchicago.edu/1001/cat/bib/11072161

Hidden Bibliographic Details
ISBN:	9781846285714 1846285712 1852333952 9781852333959
Notes:	Includes bibliographical references and index.
Summary:	Robots, and more generally mechanical systems, are types of a physical system. This is why it is important to study and control these systems using information about their particular structure that describes their particular nature. In discussing physical systems, concepts like energy, interconnection and interaction, become of substantial importance. Furthermore, during the modeling and control tasks, the results we obtain should be independent from artificial co-ordinates that people use to analyse the results of their work. This has lead to the concept of co-ordinate free description and tensors that have been used a lot in the theory of relativity. Throughout this book emphasis is placed on the intrinsic description of the results reported. The book describes the modeling and control of robotic systems subject to interaction. It covers everything from basic concepts of differential geometry to real robotics. Physics and the geometric interconnection of arts play a major role throughout the work.
Other form:	Print version: Stramigioli, Stefano. 1968- Modeling and IPC control of interactive mechanical systems. 1st ed. London ; New York : Springer, 2001

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