Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. - World class authority· Unique range of coverage not available in any other book - Provides ...

This textbook is ideal for a course in engineering systems dynamics and controls. The work is a comprehensive treatment of the analysis of lumped parameter physical systems. Starting with a discussion of mathematical models in general, and ordinary differential equations, the book covers input/output and state space models, computer simulation and modeling methods and techniques in mechanical, electrical, thermal and fluid domains. Frequency domain methods, transfer functions and frequency...

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete wit...

Approaches computational engineering sciences from the perspective of engineering applicationsUniting theory with hands-on computer practice, this book gives readers a firm appreciation of the error mechanisms and control that underlie discrete approximation implementations in the engineering sciences.Key features:Illustrative examples include heat conduction, structural mechanics, mechanical vibrations, heat transfer with convection ...

A complete all-in-one reference on the important interdisciplinary topic of Battery Systems EngineeringFocusing on the interdisciplinary area of battery systems engineering, this book provides the background, models, solution techniques, and systems theory that are necessary for the development of advanced battery management systems. It covers the topic from the perspective of basic electrochemistry as well as systems engineering topics and provides a basi...

This book gives an introduction to the finite element method as a general computational method for solving partial differential equations approximately. Our approach is mathematical in nature with a strong focus on the underlying mathematical principles, such as approximation properties of piecewise polynomial spaces, and variational formulations of partial differential equations, but with a minimum level of advanced mathematical machinery from functional analysis and partial differential ...

Provides the basics of spacecraft orbital dynamics plus attitude dynamics and control, using vectrix notationSpacecraft Dynamics and Control: An Introduction presents the fundamentals of classical control in the context of spacecraft attitude control. This approach is particularly beneficial for the training of students in both of the subjects of classical control as well as its application to spacecraft attitude control. By using a physic...

Numerical Methods using MATLAB, 3e, is an extensive reference offering hundreds of useful and important numerical algorithms that can be implemented into MATLAB for a graphical interpretation to help researchers analyze a particular outcome. Many worked examples are given together with exercises and solutions to illustrate how numerical methods can be used to study problems that have applications in the biosciences, chaos, optimization, engineering and science across the board. - Over 500 ...

Numerical Methods for Partial Differential Equations: Finite Difference and Finite Volume Methods focuses on two popular deterministic methods for solving partial differential equations (PDEs), namely finite difference and finite volume methods. The solution of PDEs can be very challenging, depending on the type of equation, the number of independent variables, the boundary, and initial conditions, and other factors. These two methods have been traditionally used to solve problems involvin...

This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual system...

The type of control system used for electrical machines depends on the use (nature of the load, operating states, etc.) to which the machine will be put. The precise type of use determines the control laws which apply. Mechanics are also very important, because they affect performance.Another factor of essential importance in industrial applications is operating safety. Finally, the problem of how to control a number of different machines, whose interactions and outputs must be coo...