000			04543nam a22003975i 4500
001			287011
003			MX-SnUAN
005			20160429154526.0
007			cr nn 008mamaa
008			150903s2014 xxk| o |||| 0|eng d
020			_a9781447154631 _99781447154631
024	7		_a10.1007/9781447154631 _2doi
035			_avtls000340104
039		9	_a201509030842 _bVLOAD _c201404300410 _dVLOAD _y201402061017 _zstaff
040			_aMX-SnUAN _bspa _cMX-SnUAN _erda
050		4	_aTJ212-225
100	1		_aFrom, Pål Johan. _eautor _9315984
245	1	0	_aVehicle-Manipulator Systems : _bModeling for Simulation, Analysis, and Control / _cby Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen.
264		1	_aLondon : _bSpringer London : _bImprint: Springer, _c2014.
300			_axxiv, 388 páginas 52 ilustraciones, 33 ilustraciones en color. _brecurso en línea.
336			_atexto _btxt _2rdacontent
337			_acomputadora _bc _2rdamedia
338			_arecurso en línea _bcr _2rdacarrier
347			_aarchivo de texto _bPDF _2rda
490	0		_aAdvances in Industrial Control, _x1430-9491
500			_aSpringer eBooks
505	0		_aIntroduction -- 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			_aFurthering 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.
590			_aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700	1		_aGravdahl, Jan Tommy. _eautor _9315985
700	1		_aPettersen, Kristin Ytterstad. _eautor _9315986
710	2		_aSpringerLink (Servicio en línea) _9299170
776	0	8	_iEdición impresa: _z9781447154624
856	4	0	_uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/978-1-4471-5463-1 _zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
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