05291nam 2200733 a 450 991081759300332120230803021529.01-118-57201-71-118-57212-21-118-57200-9(CKB)2550000001111806(EBL)1434093(OCoLC)859161203(SSID)ssj0001034887(PQKBManifestationID)11545116(PQKBTitleCode)TC0001034887(PQKBWorkID)11028914(PQKB)10741400(MiAaPQ)EBC1434093(Au-PeEL)EBL1434093(CaPaEBR)ebr10748648(CaONFJC)MIL511698(EXLCZ)99255000000111180620130831d2013 uy 0engur|n|---|||||txtccrFlexible robotics[electronic resource] applications to multiscale manipulations /edited by Mathieu Grossard, Nicolas Chaillet, Stéphane RégnierLondon ISTE20131 online resource (405 p.)Robotics seriesDescription based upon print version of record.1-84821-520-7 1-299-80447-0 Includes bibliographical references and index.Cover ; Title Page ; Contents ; Introduction ; Chapter 1. Design of Integrated Flexible Structures for Micromanipulation ; 1.1. Design and control problems for flexible structures in micromanipulation ; 1.1.1. Characteristics of manipulation on the microscale ; 1.1.2. Reliability and positioning precision1.1.3. Micromanipulation station 1.1.4. Difficulties related to controlling robotic micromanipulators ; 1.2. Integrated design in micromechatronics ; 1.2.1. Modeling integrated flexible structures ; 1.2.2. Active transduction materials ; 1.2.3. Multiphysical models1.2.4. Optimization strategies for micromechatronic structures 1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures ; 1.3.1. Block method ; 1.3.2. General design approach ; 1.3.3. Finite element model1.3.4. Example applications: designing integrated flexible microgrippers 1.4. Conclusion ; 1.5. Bibliography ; Chapter 2. Flexible Structures' Representation and Notable Properties in Control ; 2.1. State-space representation of flexible structures ; 2.1.1. Dynamic representation2.1.2. Conservative model in the modal basis 2.1.3. Damping characteristics ; 2.1.4. Solving equations ; 2.1.5. State-space representation in the modal basis ; 2.1.6. Modal identification and control ; 2.2. The concepts of modal controllability and observability2.2.1. Overview of state controllability and observability 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 sigIsteRobotsControl systemsRobotsMotionFlexible manufacturing systemsManipulators (Mechanism)RobotsControl systems.RobotsMotion.Flexible manufacturing systems.Manipulators (Mechanism)610.28Grossard Mathieu906319Chaillet Nicolas906320Régnier Stéphane845929MiAaPQMiAaPQMiAaPQBOOK9910817593003321Flexible robotics2026918UNINA