Flexible robotics : applications to multiscale manipulations / edited by Mathieu Grossard, Nicolas Chaillet, Stéphane Régnier.

Format:

Book

Author/Creator:

Grossard, Mathieu

Contributor:

Grossard, Mathieu.

Chaillet, Nicolas.

Régnier, Stéphane.

Series:

Iste

Robotics series

Language:

English

Subjects (All):

Robots--Control systems.

Robots.

Robots--Motion.

Flexible manufacturing systems.

Manipulators (Mechanism).

Physical Description:

1 online resource (405 p.)

Edition:

1st ed.

Place of Publication:

London : ISTE, 2013.

John Wiley and Sons, Inc. [2013]

Language Note:

English

Summary:

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

Contents:

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

Notes:

Description based upon print version of record.

Includes bibliographical references and index.

ISBN:

9781118572016

1118572017

9781118572122

1118572122

9781118572009

1118572009

OCLC:

859161203