LEADER 05295nam 2200733 a 450 001 9910139019203321 005 20230803021529.0 010 $a1-118-57201-7 010 $a1-118-57212-2 010 $a1-118-57200-9 035 $a(CKB)2550000001111806 035 $a(EBL)1434093 035 $a(OCoLC)859161203 035 $a(SSID)ssj0001034887 035 $a(PQKBManifestationID)11545116 035 $a(PQKBTitleCode)TC0001034887 035 $a(PQKBWorkID)11028914 035 $a(PQKB)10741400 035 $a(MiAaPQ)EBC1434093 035 $a(Au-PeEL)EBL1434093 035 $a(CaPaEBR)ebr10748648 035 $a(CaONFJC)MIL511698 035 $a(EXLCZ)992550000001111806 100 $a20130831d2013 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aFlexible robotics$b[electronic resource] $eapplications to multiscale manipulations /$fedited by Mathieu Grossard, Nicolas Chaillet, Ste?phane Re?gnier 210 $aLondon $cISTE$d2013 215 $a1 online resource (405 p.) 225 0 $aRobotics series 300 $aDescription based upon print version of record. 311 $a1-84821-520-7 311 $a1-299-80447-0 320 $aIncludes bibliographical references and index. 327 $aCover ; 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 precision 327 $a1.1.3. 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 models 327 $a1.2.4. 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 model 327 $a1.3.4. 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 representation 327 $a2.1.2. 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 observability 327 $a2.2.1. Overview of state controllability and observability 330 $a The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a sig 410 0$aIste 606 $aRobots$xControl systems 606 $aRobots$xMotion 606 $aFlexible manufacturing systems 606 $aManipulators (Mechanism) 615 0$aRobots$xControl systems. 615 0$aRobots$xMotion. 615 0$aFlexible manufacturing systems. 615 0$aManipulators (Mechanism) 676 $a610.28 701 $aGrossard$b Mathieu$0906319 701 $aChaillet$b Nicolas$0906320 701 $aRe?gnier$b Ste?phane$0845929 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910139019203321 996 $aFlexible robotics$92026918 997 $aUNINA