Multibody System Dynamics, Robotics and Control

1. Front Matter

   Pages i-x

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2. Time-Optimal Path Planning Along Specified Trajectories

   • Francisco Geu Flores, Andrés Kecskeméthy

   Pages 1-16

3. Efficient Online Computation of Smooth Trajectories Along Geometric Paths for Robotic Manipulators

   • Lukas Messner, Hubert Gattringer, Hartmut Bremer

   Pages 17-30

4. Constraint and Dynamic Analysis of Compliant Mechanisms with a Flexible Multibody Modelling Approach

   • R. G. K. M. Aarts

   Pages 31-43

5. Sensor Data Fusion for the Localization and Position Control of One Kind of Omnidirectional Mobile Robots

   • Peter Eberhard, Qirong Tang

   Pages 45-73

6. Modelling and Control of Infinite-Dimensional Mechanical Systems: A Port-Hamiltonian Approach

   • Markus Schöberl, Andreas Siuka

   Pages 75-93

7. Passivity-Based Tracking Control of a Flexible Link Robot

   • Peter Staufer, Hubert Gattringer

   Pages 95-112

8. Norm-Optimal Iterative Learning Control for a Pneumatic Parallel Robot

   • Dominik Schindele, Harald Aschemann

   Pages 113-128

9. Balance and Posture Control for Biped Robots

   • Maximo A. Roa, Christian Ott

   Pages 129-143

10. Robot-Based Testing of Total Joint Replacements

    • Christoph Woernle, Michael Kähler, Roman Rachholz, János Zierath, Sven Herrmann, Robert Souffrant et al.

    Pages 145-160

11. Dynamics and Control of the Biped Robot Lola

    • Thomas Buschmann, Valerio Favot, Markus Schwienbacher, Alexander Ewald, Heinz Ulbrich

    Pages 161-173

12. Automated Kinematics Reasoning for Wheeled Mobile Robots

    • Michael Hofbaur, Christoph Gruber, Mathias Brandstötter

    Pages 175-191

13. Automatic Parameter Identification for Mechatronic Systems

    • Rafael Ludwig, Johannes Gerstmayr

    Pages 193-212

14. Crane Operators Training Based on the Real-Time Multibody Simulation

    • Mohamad Ezral Baharudin, Pasi Korkealaakso, Asko Rouvinen, Aki Mikkola

    Pages 213-229

15. On a Momentum Based Version of Lagrange’s Equations

    • Hans Irschik, Michael Krommer, Manfred Nader, Yury Vetyukov, Hans-Georg von Garssen

    Pages 231-242

16. Vibration Control and Structural Damping of a Rotating Beam by Using Piezoelectric Actuators

    • Christian Zehetner, Georg Zenz

    Pages 243-257

17. Multibody Dynamics Approaches to Biomechanical Applications to Human Motion Tasks

    • Jorge A. C. Ambrosio

    Pages 259-289

18. Application Examples of Wire Robots

    • Tobias Bruckmann, Wildan Lalo, Christian Sturm

    Pages 291-310

19. Back Matter

    Pages 311-314

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The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

• Elastic Robots
• Modeling of Mechanical Systems
• Multibody System Dynamics
• Nonlinear Control
• Optimal Path Planning

• Institute for Robotics, Johannes Kepler University Linz, Linz, Austria

  Hubert Gattringer

• Linz Center of Mechatronics GmbH, Linz, Austria

  Johannes Gerstmayr

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