Vehicle-Manipulator Systems Modeling for Simulation, Analysis, and Control /

• Main Authors: From, Pål Johan (Author), Gravdahl, Jan Tommy (Author), Pettersen, Kristin Ytterstad (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: London : Springer London : Imprint: Springer, 2014.
• Series: Advances in Industrial Control,
• Subjects: Engineering.; Control engineering.; Robotics.; Automation.; Control.; Robotics and Automation.

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of...

Table of Contents:

• Introduction
• Preliminary Mathematical Concepts
• Rigid Body Kinematics
• Kinematics of Manipulators on a Fixed Base
• Kinematics of Vehicle-manipulator Systems
• Rigid Body Dynamics
• Dynamics of Manipulators on a Fixed Base
• Dynamics of Vehicle-manipulator Systems
• Properties of the Dynamic Equations in Matrix Form
• Underwater Robotic Systems
• Spacecraft-manipulator Systems
• Field Robots
• Robotic Manipulators Mounted on a Forced Non-inertial Base.