Vehicle-Manipulator Systems (Record no. 58313)
[ view plain ]
| 000 -LEADER | |
|---|---|
| fixed length control field | 04571nam a22005055i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-1-4471-5463-1 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20200421112542.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 131002s2014 xxk| s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9781447154631 |
| -- | 978-1-4471-5463-1 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | From, P�al Johan. |
| 245 10 - TITLE STATEMENT | |
| Title | Vehicle-Manipulator Systems |
| Sub Title | Modeling for Simulation, Analysis, and Control / |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XXIV, 388 p. 52 illus., 33 illus. in color. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Advances in Industrial Control, |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | 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. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | 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 required for modeling and control. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Gravdahl, Jan Tommy. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Pettersen, Kristin Ytterstad. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-1-4471-5463-1 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | London : |
| -- | Springer London : |
| -- | Imprint: Springer, |
| -- | 2014. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics and Automation. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 1430-9491 |
| 912 ## - | |
| -- | ZDB-2-ENG |
No items available.