Nonsmooth impact mechanics: models, dynamics and control
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | German |
| Published: |
London [u.a.]
Springer
1996
|
| Series: | Lecture notes in control and information sciences
220 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XV, 400 S. Ill., graph. Darst. |
| ISBN: | 3540760792 |
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MARC
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| 100 | 1 | |a Brogliato, Bernard |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Nonsmooth impact mechanics |b models, dynamics and control |c Bernard Brogliato |
| 264 | 1 | |a London [u.a.] |b Springer |c 1996 | |
| 300 | |a XV, 400 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Lecture notes in control and information sciences |v 220 | |
| 650 | 7 | |a Choc (Mécanique) |2 ram | |
| 650 | 7 | |a Dynamische systemen |2 gtt | |
| 650 | 7 | |a Impact |2 ram | |
| 650 | 7 | |a distribution Schwartz |2 inriac | |
| 650 | 7 | |a dynamique structurale |2 inriac | |
| 650 | 7 | |a equation differentielle |2 inriac | |
| 650 | 7 | |a impact |2 inriac | |
| 650 | 7 | |a systeme dynamique |2 inriac | |
| 650 | 4 | |a Impact | |
| 650 | 4 | |a Shock (Mechanics) | |
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Record in the Search Index
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|---|---|
| adam_text |
CONTENTS
1
DISTRIBUTIONAL
MODEL
OF
IMPACTS
1
1.1
EXTERNAL
PERCUSSIONS
.
1
1.2
MEASURE
DIFFERENTIAL
EQUATIONS
.
7
1.2.1
SOME
PROPERTIES
.
7
1.2.2
ADDITIONAL
COMMENTS
.
13
1.3
SYSTEMS
SUBJECT
TO
UNILATERAL
CONSTRAINTS
.
18
1.3.1
GENERAL
CONSIDERATIONS
.
18
1.3.2
FLOWS
WITH
COLLISIONS
.
24
1.3.3
CONSTRAINED
SYSTEMS
AND
DESCRIPTOR
VARIABLE
SYSTEMS
.
32
1.4
CHANGES
OF
COORDINATES
M
MDE
.
34
1.4.1
FYOM
MEASURE
TO
CARATHEODORY
SYSTEMS
.
34
1.4.2
FYOM
MEASURE
TO
FILIPPOV
'
S
DIFFERENTIAL
EQUATIONS:
THE
ZHURAVLEV-IVANOV
METHOD
.
38
2
APPROXIMATING
PROBLEMS
43
21
SIMPLE
EXAMPLES
.
44
2.1.1
FYOM
ELASTIC
TO
HARD
IMPACT
.
44
2.1.2
FYOM
DAMPED
TO
PLASTIC
IMPACT
.
46
2.1.3
THE
GENERAL
CASE
.
47
2.2
THE
METHOD
OF
PENALIZING
FUNCTIONS
.
51
2.2.1
THE
ELASTIC
REBOUND
CASE
.
52
2.2.2
THE
GENERAL
CASE
.
53
2.2.3
UNIQUENESS
OF
SOLUTIONS
.
57
3
VARIATIONAL
PRINCIPLES
63
3.1
GAUSS
'
PRINCIPLE
.
63
XII
3.1.1
ADDITIONAL
COMMENTS
AND
STUDIES
.
65
3.2
LAGRANGE
'
S
EQUATIONS
.
65
3.3
EXTERNAL
IMPULSIVE
FORCES
.
66
3.3.1
EXAMPLE:
FLEXIBLE
JOINT
MANIPULATORS
.
66
3.4
HAMILTON
'
S
PRINCIPLE
AND
UNILATERAL
CONSTRAINTS
.
68
3.4
1
INTRODUCTION
.
68
3.4.2
MODIFIED
SET
OF
CURVES
.
72
3.4.3
MODIFIED
LAGRANGIAN
FUNCTION
.
74
3.4.4
ADDITIONAL
COMMENTS
AND
STUDIES
.
77
4
TWO
BODIES
COLLIDING
81
4.1
DYNAMICAL
EQUATIONS
OF
TWO
RIGID
BODIES
COLLIDING
.
81
4
1.1
GENERAL
CONSIDERATIONS
.
81
4.1.2
RELATIONSHIPS
BETWEEN
REAL-WORLD
AND
GENERALIZED
NORMAL
DI
RECTIONS
.
87
4.1.3
DYNAMICAL
EQUATIONS
AT
COLLISION
TIMES
.
88
4.2
PERCUSSION
LAWS
.
91
4.2
1
OBLIQUE
PERCUSSIONS
WITH
FRICTION
BETWEEN
TWO
BODIES
.
93
4.2.2
RIGID
BODY
FORMULATION:
BRACH
'
S
METHOD
.
94
4.2.3
ADDITIONAL
COMMENTS
AND
STUDIES
.
98
4.2.4
DIFFERENTIAL
ANALYSIS:
STRONGE
'
S
ENERGETICAL
COEFFICIENT
.
100
4.2.5
ADDITIONAL
COMMENTS
AND
STUDIES
.
105
4.2.6
DYNAMICAL
EQUATIONS
DURING
THE
COLLISION
PROCESS:
KELLER
'
S
SHOCK
EQUATIONS
.
109
4.2.7
IMPACTS
IN
FLEXIBLE
STRUCTURES
.
115
5
MULTICONSTRAINT
NONSMOOTH
DYNAMICS
117
5.1
INTRODUCTION.
DELASSUS
'
PROBLEM
.
117
5.2
KINEMATIC
CHAINS
WITH
UNILATERAL
CONSTRAINTS
.
120
5.2.1
THE
STRIKING
BALLS
EXAMPLES
.
121
5.3
MOREAU
'
S
SWEEPING
PROCESS
.
129
5.3.1
GENERAL
FORMULATION
.
129
5.3.2
APPLICATION
TO
MECHANICAL
SYSTEMS
.
129
5.3.3
EXISTENTIAL
RESULTS
.
137
5.3.4
SHOCKS
WITH
FRICTION
.
140
CONTENTS
CONTENTS
XIII
5.4
COMPLEMENTARITY
FORMULATIONS
.
145
5.4.1
ADDITIONAL
COMMENTS
AND
STUDIES
.
148
5.4.2
TANGENTIAL
IMPACTS
OR
IMPACTS
WITHOUT
COLLISIONS
.
150
5.4.3
LECORNU
'
S
FRICTIONAL
CATASTROPHES
.
159
5.4.4
ADDITIONAL
COMMENTS
AND
BIBLIOGRAPHY
.
162
5.4.5
NUMERICAL
INVESTIGATION
OF
IMPACTING
SYSTEMS
.
164
6
GENERALIZED
IMPACTS
167
6.1
THE
FRICTIONLESS
CASE
.
168
6.1.1
ABOUT
'
'
COMPLETE
"
NEWTON
'
S
RULES
.
168
6.2
THE
USE
OF
THE
KINETIC
METRIC
.
.
169
6.2.1
THE
KINETIC
ENERGY
LOSS
AT
IMPACT
.
173
6.3
SIMPLE
GENERALIZED
IMPACTS
.
175
6.3.1
2-DIMENSIONAL
LAMINA
STRIKING
A
PLANE
.
175
6.4
MULTIPLE
GENERALIZED
IMPACTS
.
185
6.4.1
THE
ROCKING
BLOCK
PROBLEM
.
185
6.5
GENERAL
RESTITUTION
RULES
FOR
MULTIPLE
IMPACTS
.
192
6.5.1
INTRODUCTION
.
192
6.5.2
THE
ROCKING
BLOCK
EXAMPLE
CONTINUED
.
195
6.5.3
ADDITIONAL
COMMENTS
AND
STUDIES
.
197
6.5.4
3-BALLS
EXAMPLE
CONTINUED
.
199
6.5.5
2-BALLS
.
208
6.5.6
ADDITIONAL
COMMENTS
AND
STUDIES
.
208
6.5.7
SUMMARY
OF
THE
MAIN
IDEAS
.
210
6.5.8
COLLISIONS
NEAR
SINGULARITIES:
ADDITIONAL
COMMENTS
.
211
6.6
CONSTRAINTS
WITH
COULOMB
FRICTION
.
217
6.6
1
LAMINA
WITH
FRICTION
.
218
7
STABILITY
OF
SOLUTIONS
OF
IMPACTING
SYSTEMS
223
7.1
GENERAL
STABILITY
CONCEPTS
.
223
7.1.1
STABILITY
OF
MEASURE
DIFFERENTIAL
EQUATIONS
.
223
7.1.2
STABILITY
OF
MECHANICAL
SYSTEMS
WITH
UNILATERAL
CONSTRAINTS
.
.
227
7.1.3
PASSIVITY
OF
THE
COLLISION
MAPPING
.
231
7.1.4
STABILITY
OF
THE
DISCRETE
DYNAMIC
EQUATIONS
.
234
XIV
CONTENTS
7.1.5
CONCLUSIONS
.
253
7.2
STABILITY:
FROM
COMPLIANT
TO
RIGID
MODELS
.
254
7.2.1
SYSTEM
'
S
DYNAMICS
.
255
7.2.2
LYAPUNOV
STABILITY
ANALYSIS
.
256
7.2.3
ANALYSIS
OF
QUADRATIC
STABILITY
CONDITIONS
FOR
LARGE
STIFFNESS
VALUES
.
257
7.2.4
A
STIFFNESS
INDEPENDENT
CONVERGENCE
ANALYSIS
.
262
8
FEEDBACK
CONTROL
269
8.1
IMPACTING
ROBOTIC
SYSTEMS
.
270
8.2
CONTROL
OF
COMPLETE
ROBOTIC
TASKS
.
275
8.2.1
EXPERIMENTAL
CONTROL
OF
THE
TRANSITION
PHASE
.
275
8.2.2
THE
GENERAL
CONTROL
PROBLEM
.
278
8.3
DYNAMIC
MODEL
.
281
8.3.1
IMPACT
DYNAMICS
.
281
8.3.2
A
GENERAL
FORM
OF
THE
DYNAMICAL
SYSTEM
.
284
8.3.3
THE
CLOSED-LOOP
FORMULATION
OF
THE
DYNAMICS
.
286
8.3.4
DEFINITION
OF
THE
SOLUTIONS
.
288
8.4
STABILITY
ANALYSIS
FRAMEWORK
.
289
8.5
A
ONE
DEGREE-OF-FREEDOM
EXAMPLE
.
298
8.5.1
STATIC
STATE
FEEDBACK
(WEAKLY
STABLE
TASK
EXAMPLE)
.
298
8.5.2
TOWARDS
A
STRONGLY
STABLE
CLOSED-LOOP
SCHEME
.
302
8.5.3
DYNAMIC
STATE
FEEDBACK
.
310
8.6
N-DEGREE-OF-FREEDOM
RIGID
MANIPULATORS
.
314
8.6.1
INTEGRABLE
TRANSFORMED
VELOCITIES
.
314
8.6.2
NON-MTEGRABLE
TRANSFORMED
VELOCITIES
.
318
8.7
ANOTHER
CONCEPT
OF
STABILITY
.
324
8.8
EXAMPLES
.
329
8.9
CONCLUSIONS
.
331
A
SCHWARTZ
'
DISTRIBUTIONS
335
A.L
THE
FUNCTIONAL
APPROACH
.
335
A.
2
THE
SEQUENTIAL
APPROACH
.
337
A.
3
NOTIONS
OF
CONVERGENCE
.
339
CONTENTS
XV
B
MEASURES
AND
INTEGRALS
341
C
FUNCTIONS
OF
BOUNDED
VARIATION
IN
TIME
349
C.L
DEFINITION
AND
GENERALITIES
.
349
C.2
SPACES
OF
FUNCTIONS
OF
BOUNDED
VARIATION
.
350
C
3
SOBOLEV
SPACES
.
351
D
ELEMENTS
OF
CONVEX
ANALYSIS
353
E
DISSIPATIVE
SYSTEMS
359
BIBLIOGRAPHY
360
INDEX
394
LIST
OF
FIGURES
396 |
| any_adam_object | 1 |
| author | Brogliato, Bernard |
| author_facet | Brogliato, Bernard |
| author_role | aut |
| author_sort | Brogliato, Bernard |
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| callnumber-search | QA402 TA354 |
| callnumber-sort | QA 3402 |
| callnumber-subject | QA - Mathematics |
| classification_rvk | SI 845 |
| classification_tum | MTA 560f |
| ctrlnum | (OCoLC)845197278 (DE-599)BVBBV010840092 |
| dewey-full | 620.1/054 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 620 - Engineering and allied operations |
| dewey-raw | 620.1/054 |
| dewey-search | 620.1/054 |
| dewey-sort | 3620.1 254 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Physik Mathematik |
| format | Book |
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| id | DE-604.BV010840092 |
| illustrated | Illustrated |
| indexdate | 2024-08-14T00:26:16Z |
| institution | BVB |
| isbn | 3540760792 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-007246406 |
| oclc_num | 845197278 |
| open_access_boolean | |
| owner | DE-384 DE-91G DE-BY-TUM DE-706 DE-634 DE-83 |
| owner_facet | DE-384 DE-91G DE-BY-TUM DE-706 DE-634 DE-83 |
| physical | XV, 400 S. Ill., graph. Darst. |
| publishDate | 1996 |
| publishDateSearch | 1996 |
| publishDateSort | 1996 |
| publisher | Springer |
| record_format | marc |
| series | Lecture notes in control and information sciences |
| series2 | Lecture notes in control and information sciences |
| spelling | Brogliato, Bernard Verfasser aut Nonsmooth impact mechanics models, dynamics and control Bernard Brogliato London [u.a.] Springer 1996 XV, 400 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in control and information sciences 220 Choc (Mécanique) ram Dynamische systemen gtt Impact ram distribution Schwartz inriac dynamique structurale inriac equation differentielle inriac impact inriac systeme dynamique inriac Impact Shock (Mechanics) Stoß Technik (DE-588)4131375-6 gnd rswk-swf Nichtglatte Mechanik (DE-588)4201235-1 gnd rswk-swf Stoß (DE-588)4124258-0 gnd rswk-swf Stoß (DE-588)4124258-0 s Nichtglatte Mechanik (DE-588)4201235-1 s DE-604 Stoß Technik (DE-588)4131375-6 s Lecture notes in control and information sciences 220 (DE-604)BV005848579 220 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007246406&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Brogliato, Bernard Nonsmooth impact mechanics models, dynamics and control Lecture notes in control and information sciences Choc (Mécanique) ram Dynamische systemen gtt Impact ram distribution Schwartz inriac dynamique structurale inriac equation differentielle inriac impact inriac systeme dynamique inriac Impact Shock (Mechanics) Stoß Technik (DE-588)4131375-6 gnd Nichtglatte Mechanik (DE-588)4201235-1 gnd Stoß (DE-588)4124258-0 gnd |
| subject_GND | (DE-588)4131375-6 (DE-588)4201235-1 (DE-588)4124258-0 |
| title | Nonsmooth impact mechanics models, dynamics and control |
| title_auth | Nonsmooth impact mechanics models, dynamics and control |
| title_exact_search | Nonsmooth impact mechanics models, dynamics and control |
| title_full | Nonsmooth impact mechanics models, dynamics and control Bernard Brogliato |
| title_fullStr | Nonsmooth impact mechanics models, dynamics and control Bernard Brogliato |
| title_full_unstemmed | Nonsmooth impact mechanics models, dynamics and control Bernard Brogliato |
| title_short | Nonsmooth impact mechanics |
| title_sort | nonsmooth impact mechanics models dynamics and control |
| title_sub | models, dynamics and control |
| topic | Choc (Mécanique) ram Dynamische systemen gtt Impact ram distribution Schwartz inriac dynamique structurale inriac equation differentielle inriac impact inriac systeme dynamique inriac Impact Shock (Mechanics) Stoß Technik (DE-588)4131375-6 gnd Nichtglatte Mechanik (DE-588)4201235-1 gnd Stoß (DE-588)4124258-0 gnd |
| topic_facet | Choc (Mécanique) Dynamische systemen Impact distribution Schwartz dynamique structurale equation differentielle impact systeme dynamique Shock (Mechanics) Stoß Technik Nichtglatte Mechanik Stoß |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007246406&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV005848579 |
| work_keys_str_mv | AT brogliatobernard nonsmoothimpactmechanicsmodelsdynamicsandcontrol |