000 03866nam a22005655i 4500
001 978-3-642-54613-6
003 DE-He213
005 20200421112227.0
007 cr nn 008mamaa
008 140326s2014 gw | s |||| 0|eng d
020 _a9783642546136
_9978-3-642-54613-6
024 7 _a10.1007/978-3-642-54613-6
_2doi
050 4 _aTJ210.2-211.495
050 4 _aTJ163.12
072 7 _aTJFM
_2bicssc
072 7 _aTJFD
_2bicssc
072 7 _aTEC004000
_2bisacsh
072 7 _aTEC037000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aMarani, Giacomo.
_eauthor.
245 1 0 _aIntroduction to Autonomous Manipulation
_h[electronic resource] :
_bCase Study with an Underwater Robot, SAUVIM /
_cby Giacomo Marani, Junku Yuh.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg :
_bImprint: Springer,
_c2014.
300 _aXVII, 162 p. 76 illus., 73 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v102
505 0 _aIntroduction -- Geometry, kinematics and dynamics of multi-body systems -- Kinematic control -- The SAUVIM Underwater Vehicle-Manipulator System -- Target localization -- Case study -- Mathematical supplement.
520 _a"Autonomous manipulation" is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples and experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aSystem theory.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 1 4 _aEngineering.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aSystems Theory, Control.
700 1 _aYuh, Junku.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642546129
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v102
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-54613-6
912 _aZDB-2-ENG
942 _cEBK
999 _c57729
_d57729