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Vehicle-Manipulator Systems

Modeling for Simulation, Analysis, and Control

  • Pål Johan From
  • Jan Tommy Gravdahl
  • Kristin Ytterstad Pettersen

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages I-XXIV
  2. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 1-13
  3. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 15-90
  4. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 91-124
  5. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 125-167
  6. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 169-189
  7. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 191-227
  8. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 229-245
  9. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 247-284
  10. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 285-305
  11. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 307-324
  12. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 325-354
  13. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 355-368
  14. Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen
    Pages 369-377
  15. Back Matter
    Pages 379-388

About this book

Introduction

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.

Authors and affiliations

  • Pål Johan From
    • 1
  • Jan Tommy Gravdahl
    • 2
  • Kristin Ytterstad Pettersen
    • 3
  1. 1.Department of Mathematical Sciences and TechnologyNorwegian University of Life Sciences ÅsTrondheimNorway
  2. 2.Norwegian Univ. of Science & Technology Department of Engineering CyberneticsTrondheimNorway
  3. 3.Norwegian Univ. of Science & Technology Department of Engineering CyberneticsTrondheimNorway

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-5463-1
  • Copyright Information Springer-Verlag London 2014
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-4471-5462-4
  • Online ISBN 978-1-4471-5463-1
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • Buy this book on publisher's site
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