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Vehicle-Manipulator Systems - Modeling for Simulation, Analysis, and Control (Paperback, Softcover reprint of the original 1st ed. 2014)
Loot Price: R5,498
Discovery Miles 54 980
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Vehicle-Manipulator Systems - Modeling for Simulation, Analysis, and Control (Paperback, Softcover reprint of the original 1st ed. 2014)
Series: Advances in Industrial Control
Expected to ship within 10 - 15 working days
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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.
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