Vehicle-manipulator systems [electronic resource] : modeling for simulation, analysis, and control / Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen.
From, Pål Johan, author.; Gravdahl, Jan Tommy, 1969-, author.; Pettersen, K. Y. (Kristin Y.), author.
2013
TJ211
Available Online

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Title Vehicle-manipulator systems [electronic resource] : modeling for simulation, analysis, and control / Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen.
Author From, Pål Johan, author.
ISBN 9781447154631 electronic book
1447154630 electronic book
9781447154624
DOI https://doi.org/10.1007/978-1-4471-5463-1
Published London : Springer, [2013?]
Copyright ©2014
Language English
Description 1 online resource (xxiv, 388 pages) : illustrations (some color).
Item Number 10.1007/978-1-4471-5463-1 doi
Call Number TJ211
Dewey Decimal Classification 629.8
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 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.
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Source of Description Description based on online resource; title from PDF title page (SpringerLink, viewed October 7, 2013).
Added Author Gravdahl, Jan Tommy, 1969-, author.
Pettersen, K. Y. (Kristin Y.), author.
Series Advances in industrial control, 1430-9491
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Record Appears in Online Resources > Ebooks
All Resources
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.

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