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100 1 _aWu, Jundong.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 1 0 _aControl of Underactuated Manipulators
_h[electronic resource] :
_bDesign and Optimization /
_cby Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang.
250 _a1st ed. 2023.
264 1 _aSingapore :
_bSpringer Nature Singapore :
_bImprint: Springer,
_c2023.
300 _aXV, 292 p. 98 illus., 58 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
500 _aAcceso multiusuario
505 0 _a1. Introduction -- 2. Modeling and Characteristics Analysis of Underactuated Manipulators -- 3. Control of Vertical Underactuated Manipulator -- 4. Control of Planar Manipulator with a Passive First Joint -- 5. Control of Planar Underactuated Manipulator with an Active First Joint.
520 _aThis book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
541 _fUABC ;
_cPerpetuidad
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 0 _aSystem theory.
650 0 _aControl theory.
650 1 4 _aControl and Systems Theory.
650 2 4 _aControl, Robotics, Automation.
650 2 4 _aSystems Theory, Control .
700 1 _aZhang, Pan.
_eauthor.
_0(orcid)0000-0003-0224-6082
_1https://orcid.org/0000-0003-0224-6082
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
700 1 _aMeng, Qingxin.
_eauthor.
_0(orcid)0000-0002-2175-7120
_1https://orcid.org/0000-0002-2175-7120
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
700 1 _aWang, Yawu.
_eauthor.
_0(orcid)0000-0001-7027-2851
_1https://orcid.org/0000-0001-7027-2851
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
710 2 _aSpringerLink (Online service)
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9789819908899
776 0 8 _iPrinted edition:
_z9789819908912
776 0 8 _iPrinted edition:
_z9789819908929
856 4 0 _zLibro electrónico
_uhttp://libcon.rec.uabc.mx:2048/login?url=https://doi.org/10.1007/978-981-99-0890-5
912 _aZDB-2-INR
912 _aZDB-2-SXIT
942 _cLIBRO_ELEC
999 _c260825
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