Flexible robotics [[electronic resource] ] : applications to multiscale manipulations / / edited by Mathieu Grossard, Nicolas Chaillet, Stéphane Régnier

• Pubblicazione: London, : ISTE, 2013
• Descrizione fisica: 1 online resource (405 p.)
• Disciplina: 610.28
• Soggetto topico: Robots - Control systems; Robots - Motion; Flexible manufacturing systems; Manipulators (Mechanism)
• Altri autori: GrossardMathieu ChailletNicolas RégnierStéphane
• Note generali: Description based upon print version of record.
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: 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 precision ; 1.1.3. 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 ; 1.2.4. 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 ; 1.3.4. 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 ; 2.1.2. 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 ; 2.2.1. Overview of state controllability and observability
• Sommario/riassunto: 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
• Titolo autorizzato: Flexible robotics
• ISBN: 1-118-57201-7; 1-118-57212-2; 1-118-57200-9
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910139019203321
• Lo trovi qui: Univ. Federico II
• Serie: Iste