Dynamics of Underactuated Multibody Systems

Modeling, Control and Optimal Design

  • Robert┬áSeifried

Part of the Solid Mechanics and Its Applications book series (SMIA, volume 205)

Table of contents

  1. Front Matter
    Pages i-xi
  2. Robert Seifried
    Pages 1-8
  3. Robert Seifried
    Pages 9-54
  4. Robert Seifried
    Pages 113-166
  5. Robert Seifried
    Pages 167-181
  6. Robert Seifried
    Pages 209-242
  7. Robert Seifried
    Pages 243-245
  8. Back Matter
    Pages 247-249

About this book


Underactuated multibody systems are intriguing mechatronic systems, as they possess fewer control inputs than degrees of freedom. Some examples are modern light-weight flexible robots and articulated manipulators with passive joints. This book investigates such underactuated multibody systems from an integrated perspective. This includes all major steps from the modeling of rigid and flexible multibody systems, through nonlinear control theory, to optimal system design. The underlying theories and techniques from these different fields are presented using a self-contained and unified approach and notation system. Subsequently, the book focuses on applications to large multibody systems with multiple degrees of freedom, which require a combination of symbolical and numerical procedures. Finally, an integrated, optimization-based design procedure is proposed, whereby both structural and control design are considered concurrently. Each chapter is supplemented by illustrated examples.


Flexible Multibody Systems Mechatronics Nonlinear Control Robotics Structural Optimization

Authors and affiliations

  • Robert┬áSeifried
    • 1
  1. 1.University of Stuttgart Inst of Eng and Computational MechanicsStuttgartGermany

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2014
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-01227-8
  • Online ISBN 978-3-319-01228-5
  • Series Print ISSN 0925-0042
  • Series Online ISSN 2214-7764
  • Buy this book on publisher's site
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