Abstract
Due to the many theoretical and practical challenges which underactuated multibody systems pose, they are a fascinating research field with increasing industrial relevance in modern machine design. Especially the appealing use of light-weight design techniques, which often include body elasticity or passive joints, require a thorough understanding of the dynamics of those underactuated multibody systems. The efficient treatment of underactuated multibody systems requires a sound basis in modeling and nonlinear control design. These must be combined with advanced computational strategies and a utilization of the typical structure and properties of underactuated multibody systems. The presented research work covers these topics in a self contained way, and represents the state of the art with many newly derived results. These are subsequently combined in an integrated optimal system design approach.
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© 2014 Springer International Publishing Switzerland
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Seifried, R. (2014). Concluding Remarks. In: Dynamics of Underactuated Multibody Systems. Solid Mechanics and Its Applications, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-319-01228-5_8
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DOI: https://doi.org/10.1007/978-3-319-01228-5_8
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-01227-8
Online ISBN: 978-3-319-01228-5
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