| 000 | 04639nam a22006255i 4500 | ||
|---|---|---|---|
| 001 | 978-3-319-61022-1 | ||
| 003 | DE-He213 | ||
| 005 | 20220801221215.0 | ||
| 007 | cr nn 008mamaa | ||
| 008 | 170921s2018 sz | s |||| 0|eng d | ||
| 020 |
_a9783319610221 _9978-3-319-61022-1 |
||
| 024 | 7 |
_a10.1007/978-3-319-61022-1 _2doi |
|
| 050 | 4 | _aTJ212-225 | |
| 072 | 7 |
_aTJFM _2bicssc |
|
| 072 | 7 |
_aGPFC _2bicssc |
|
| 072 | 7 |
_aTEC004000 _2bisacsh |
|
| 072 | 7 |
_aTJFM _2thema |
|
| 082 | 0 | 4 |
_a629.8312 _223 |
| 082 | 0 | 4 |
_a003 _223 |
| 100 | 1 |
_aOrsag, Matko. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _954696 |
|
| 245 | 1 | 0 |
_aAerial Manipulation _h[electronic resource] / _cby Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan. |
| 250 | _a1st ed. 2018. | ||
| 264 | 1 |
_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2018. |
|
| 300 |
_aXV, 235 p. 148 illus., 98 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 |
_aAdvances in Industrial Control, _x2193-1577 |
|
| 505 | 0 | _aIntroduction -- Coordinate Systems and Transformations -- Physics of UAV Flight -- Manipulator Kinematics -- Aerial Manipulator Dynamics -- Sensors and Control -- Mission Planning and Control.- Multirotor Aerodynamics and Actuation.- Aerial Manipulator Kinematics -- Aerial Manipulator Dynamics.- Sensors and Control.- Mission Planning and Control. | |
| 520 | _aThis text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation. . | ||
| 650 | 0 |
_aControl engineering. _931970 |
|
| 650 | 0 |
_aRobotics. _92393 |
|
| 650 | 0 |
_aAutomation. _92392 |
|
| 650 | 0 |
_aAerospace engineering. _96033 |
|
| 650 | 0 |
_aAstronautics. _954697 |
|
| 650 | 1 | 4 |
_aControl and Systems Theory. _931972 |
| 650 | 2 | 4 |
_aControl, Robotics, Automation. _931971 |
| 650 | 2 | 4 |
_aAerospace Technology and Astronautics. _954698 |
| 700 | 1 |
_aKorpela, Christopher. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _954699 |
|
| 700 | 1 |
_aOh, Paul. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _954700 |
|
| 700 | 1 |
_aBogdan, Stjepan. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _954701 |
|
| 710 | 2 |
_aSpringerLink (Online service) _954702 |
|
| 773 | 0 | _tSpringer Nature eBook | |
| 776 | 0 | 8 |
_iPrinted edition: _z9783319610207 |
| 776 | 0 | 8 |
_iPrinted edition: _z9783319610214 |
| 776 | 0 | 8 |
_iPrinted edition: _z9783319869865 |
| 830 | 0 |
_aAdvances in Industrial Control, _x2193-1577 _954703 |
|
| 856 | 4 | 0 | _uhttps://doi.org/10.1007/978-3-319-61022-1 |
| 912 | _aZDB-2-ENG | ||
| 912 | _aZDB-2-SXE | ||
| 942 | _cEBK | ||
| 999 |
_c79410 _d79410 |
||