Download Fundamentals in Modeling and Control of Mobile Manipulators by Zhijun Li PDF

By Zhijun Li

Cellular manipulators mix some great benefits of cellular systems and robot hands, extending their operational diversity and performance to massive areas and distant, not easy, and/or harmful environments. in addition they convey complexity and trouble in dynamic modeling and keep an eye on procedure layout. besides the fact that, advances in nonlinear approach research and keep an eye on approach layout provide strong instruments and ideas for the regulate of cellular manipulator structures. basics in Modeling and keep watch over of cellular Manipulators provides an intensive theoretical remedy of a number of basic difficulties for cellular robot manipulators.

The e-book integrates clean innovations and state of the art effects to systematically learn kinematics and dynamics, movement new release, suggestions keep an eye on, coordination, and cooperation. From this remedy, the authors shape a easy theoretical framework for a cellular robot manipulator that extends the speculation of nonlinear keep an eye on and applies to extra reasonable difficulties. Drawing on their examine during the last ten years, the authors suggest novel keep watch over conception ideas and strategies to take on key problems.

Topics lined comprise kinematic and dynamic modeling, keep an eye on of nonholonomic structures, direction making plans that considers movement and manipulation, hybrid motion/force keep an eye on and hybrid position/force keep an eye on the place the cellular manipulator is needed to have interaction with environments, and coordination and cooperation innovations for a number of cellular manipulators. The publication additionally comprises useful examples of functions in engineering platforms. This well timed publication investigates very important clinical and engineering concerns for researchers and engineers operating with both unmarried or a number of cellular manipulators for greater operational house, higher cooperation, and more desirable productiveness.

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Extra info for Fundamentals in Modeling and Control of Mobile Manipulators

Sample text

1 Lagrange-Euler Equations . . . . . . . . . . . . . . . . . . . . 2 Kinetic Energy . . . . . . . . . . . . . . . . . . . . . . . . . 3 Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . 4 Lagrangian Equations . . . . . . . . . . . . . . . . . . . . . . 5 Properties of Dynamic Equations . . . . . . . . . . . . . . . . 5 Dynamics in Cartesian Space .

1 Lagrange-Euler Equations . . . . . . . . . . . . . . . . . . . . 2 Kinetic Energy . . . . . . . . . . . . . . . . . . . . . . . . . 3 Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . 4 Lagrangian Equations . . . . . . . . . . . . . . . . . . . . . . 5 Properties of Dynamic Equations . . . . . . . . . . . . . . . . 5 Dynamics in Cartesian Space . . .

1 Lagrange-Euler Equations . . . . . . . . . . . . . . . . . . . . 2 Kinetic Energy . . . . . . . . . . . . . . . . . . . . . . . . . 3 Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . 4 Lagrangian Equations . . . . . . . . . . . . . . . . . . . . . . 5 Properties of Dynamic Equations . . . . . . . . . . . . . . . . 5 Dynamics in Cartesian Space . . . . . .

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