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001			290676
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008			150903s2005 xxk| o |||| 0|eng d
020			_a9781852339999 _99781852339999
024	7		_a10.1007/b135572 _2doi
035			_avtls000344754
039		9	_a201509030233 _bVLOAD _c201405070502 _dVLOAD _y201402061305 _zstaff
040			_aMX-SnUAN _bspa _cMX-SnUAN _erda
100	1		_aKelly, Rafael. _eautor _9321540
245	1	0	_aControl of Robot Manipulators in Joint Space / _cby Rafael Kelly, Victor Santibáñez Davila, Antonio Loría.
264		1	_aLondon : _bSpringer London, _c2005.
300			_axxvI, 426 páginas 110 ilustraciones _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		_aAdvanced Textbooks in Control and Signal Processing, _x1439-2232
500			_aSpringer eBooks
505	0		_aPreliminaries -- to Part I -- What Does “Control of Robots” Involve? -- Mathematical Preliminaries -- Robot Dynamics -- Properties of the Dynamic Model -- Case Study: The Pelican Prototype Robot -- Position Control -- to Part II -- Proportional Control plus Velocity Feedback and PD Control -- PD Control with Gravity Compensation -- PD Control with Desired Gravity Compensation -- PID Control -- Motion Control -- to Part III -- Computed-torque Control and Computed-torque+ Control -- PD+ Control and PD Control with Compensation -- Feedforward Control and PD Control plus Feedforward -- Advanced Topics -- to Part IV -- P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation -- to Adaptive Robot Control -- PD Control with Adaptive Desired Gravity Compensation -- PD Control with Adaptive Compensation.
520			_aRobot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: • robot dynamics and mathematical preliminaries; • set-point model-based control; • tracking model-based control; and • adaptive and velocity-independent control a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.
590			_aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700	1		_aDavila, Victor Santibáñez. _eautor _9321541
700	1		_aLoría, Antonio. _eautor _9321542
710	2		_aSpringerLink (Servicio en línea) _9299170
776	0	8	_iEdición impresa: _z9781852339944
856	4	0	_uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/b135572 _zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
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999			_c290676 _d290676