INTERNATIONAL STANDARD BOOK NUMBER
(Number (ISBN
9781447154624
NATIONAL BIBLIOGRAPHY NUMBER
Country Code
IR
Number
EN-51693
LANGUAGE OF THE ITEM
.Language of Text, Soundtrack etc
انگلیسی
COUNTRY OF PUBLICATION OR PRODUCTlON
Country of publication
IR
TITLE AND STATEMENT OF RESPONSIBILITY
Title Proper
Vehicle-manipulator systems
General Material Designation
[Book]
Other Title Information
:modeling for simulation, analysis, and control
First Statement of Responsibility
/ P?l Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
.PUBLICATION, DISTRIBUTION, ETC
Place of Publication, Distribution, etc.
London
Name of Publisher, Distributor, etc.
: Springer,
Date of Publication, Distribution, etc.
, 2013?.
SERIES
Series Title
(Advances in industrial control)
NOTES PERTAINING TO PUBLICATION, DISTRIBUTION, ETC.
Text of Note
Electronic
INTERNAL BIBLIOGRAPHIES/INDEXES NOTE
Text of Note
Includes bibliographical references..
CONTENTS NOTE
Text of Note
Summary: Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations re.
Text of Note
Introduction -- Preliminary Mathematical Concepts -- Rigid Body Kinematics -- Kinematics of Manipulators on a Fixed Base -- Kinematics of Vehicle-manipulator Systems -- Rigid Body Dynamics -- Dynamics of Manipulators on a Fixed Base -- Dynamics of Vehicle-manipulator Systems -- Properties of the Dynamic Equations in Matrix Form -- Underwater Robotic Systems -- Spacecraft-manipulator Systems -- Field Robots -- Robotic Manipulators Mounted on a Forced Non-inertial Base.
SERIES
Title
Advances in industrial control
TOPICAL NAME USED AS SUBJECT
Robots, Control
Manipulators (Mechanism), Control
Engineering
Control
Robotics and Automation
TECHNOLOGY & ENGINEERING / Engineering (General), bisacsh
LIBRARY OF CONGRESS CLASSIFICATION
Class number
E-BOOK
PERSONAL NAME - SECONDARY RESPONSIBILITY
From, P?l Johan
Gravdahl, Jan Tommy,1969-
Pettersen, K. Y.Pettersen, Kristin Y
ORIGINATING SOURCE
Country
ایران
ELECTRONIC LOCATION AND ACCESS
Host name
9781447154624.pdf
Access number
عادی
Compression information
عادی
Date and Hour of Consultation and Access
9781447154624.pdf
Electronic Format Type
متن
old catalog
e
BL
1
a
Y
