Flexible Robotics: Applications to Multiscale Manipulations - Couverture rigide

Couverture rigide

ISBN 10 : 1848215207 ISBN 13 : 9781848215207

Editeur : ISTE Ltd and John Wiley & Sons Inc, 2013

Synopsis

The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility.

Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems.
Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues.
Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations.
Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments.
Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation.

After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology.
Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation.
Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations.
Chapter 9 provides an overview of models for deformable body manipulators.

Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data.

A propos du livre

À propos de l?auteur

Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France

Nicolas Chaillet, FEMTO-ST, Besançon, France

Stéphane Régnier, ISIR, UPMC, Paris, France

Détails de l'édition

• Éditeur: ISTE Ltd and John Wiley & Sons Inc
• Date d'édition: 2013
• Langue: anglais
• ISBN 10: 1848215207
• ISBN 13: 9781848215207
• Reliure: Relié
• Nombre de pages: 416
• Éditeur: Grossard Mathieu, Chaillet Nicolas, Regnier Stephane
• Coordonnées du fabricant: non disponible
• Personne responsable: non disponible