LEADER 04742nam 22006615 450 001 9910299922803321 005 20200630120404.0 010 $a3-319-61022-8 024 7 $a10.1007/978-3-319-61022-1 035 $a(CKB)4100000000586776 035 $a(DE-He213)978-3-319-61022-1 035 $a(MiAaPQ)EBC5051169 035 $a(PPN)204534216 035 $a(EXLCZ)994100000000586776 100 $a20170921d2018 u| 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aAerial Manipulation /$fby Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan 205 $a1st ed. 2018. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2018. 215 $a1 online resource (XV, 235 p. 148 illus., 98 illus. in color.) 225 1 $aAdvances in Industrial Control,$x1430-9491 311 $a3-319-61020-1 320 $aIncludes bibliographical references at the end of each chapters and index. 327 $aIntroduction -- Coordinate Systems and Transformations -- Physics of UAV Flight -- Manipulator Kinematics -- Aerial Manipulator Dynamics -- Sensors and Control -- Mission Planning and Control.- Multirotor Aerodynamics and Actuation.- Aerial Manipulator Kinematics -- Aerial Manipulator Dynamics.- Sensors and Control.-  Mission Planning and Control. 330 $aThis text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton?Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange?Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.  . 410 0$aAdvances in Industrial Control,$x1430-9491 606 $aAutomatic control 606 $aRobotics 606 $aAutomation 606 $aAerospace engineering 606 $aAstronautics 606 $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010 606 $aRobotics and Automation$3https://scigraph.springernature.com/ontologies/product-market-codes/T19020 606 $aAerospace Technology and Astronautics$3https://scigraph.springernature.com/ontologies/product-market-codes/T17050 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aAutomation. 615 0$aAerospace engineering. 615 0$aAstronautics. 615 14$aControl and Systems Theory. 615 24$aRobotics and Automation. 615 24$aAerospace Technology and Astronautics. 676 $a623.7469 700 $aOrsag$b Matko$4aut$4http://id.loc.gov/vocabulary/relators/aut$01064409 702 $aKorpela$b Christopher$4aut$4http://id.loc.gov/vocabulary/relators/aut 702 $aOh$b Paul$4aut$4http://id.loc.gov/vocabulary/relators/aut 702 $aBogdan$b Stjepan$4aut$4http://id.loc.gov/vocabulary/relators/aut 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910299922803321 996 $aAerial Manipulation$92537878 997 $aUNINA