| Document Type
|
:
|
BL
|
| Record Number
|
:
|
1036085
|
| Doc. No
|
:
|
b790455
|
| Main Entry
|
:
|
Chung, W., (Woojin)
|
| Title & Author
|
:
|
Nonholonomic manipulators /\ W. Chung.
|
| Publication Statement
|
:
|
Berlin ;New York :: Springer,, ©2004.
|
| Series Statement
|
:
|
Springer tracts in advanced robotics,; v. 13
|
| Page. NO
|
:
|
xiv, 114 pages :: illustrations ;; 25 cmcm
|
| ISBN
|
:
|
3540221085
|
|
|
:
|
: 3642060471
|
|
|
:
|
: 9783540221081
|
|
|
:
|
: 9783642060472
|
| Notes
|
:
|
Revised thesis (Ph. D.) - University of Tokyo.
|
| Bibliographies/Indexes
|
:
|
Includes bibliographical references.
|
| Contents
|
:
|
1. Introduction -- 2. Design of the nonholonomic manipulator -- 3. Phototyping and control of the nonholonomic manipulator -- 4. Design of the chained form manipulator -- 5. Phototyping and control of the chained form manipulator -- 6. Conclusion
|
| Abstract
|
:
|
"This focused monograph on nonholonomic manipulators builds upon an increasing interest in nonholonomic mechanical systems in robotics and control engineering. The scope of this book is the definition and development of new nonholonomic machines which are designed on the basis of non-linear control theory for nonholonomic mechanical systems. A key feature of the work is the possibility to exploit nonholonomic theory to design innovative mechanical systems with a reduced number of actuators without reducing the size of their controllable space. The book offers a comprehensive treatment of the problem from the theoretical development of the various control schemes to prototyping new types of manipulators, while testing their performance by simulation and experiments in a number of significant cases."--Jacket.
|
| Subject
|
:
|
Manipulators (Mechanism)
|
| Subject
|
:
|
Nonholonomic dynamical systems.
|
| Subject
|
:
|
Robots-- Control systems.
|
| Subject
|
:
|
Manipulateurs (Mécanismes)
|
| Subject
|
:
|
Robots-- Commande, Systèmes de.
|
| Subject
|
:
|
Systèmes non holonomes.
|
| Subject
|
:
|
Manipulator
|
| Subject
|
:
|
Manipulators (Mechanism)
|
| Subject
|
:
|
Nichtholonome Bedingung
|
| Subject
|
:
|
Nonholonomic dynamical systems.
|
| Subject
|
:
|
Robots-- Control systems.
|
| Dewey Classification
|
:
|
629.8/933
|
| LC Classification
|
:
|
TJ211.35.C48 2004
|
| NLM classification
|
:
|
50.22bcl
|
|
|
:
|
52.72bcl
|
|
|
:
|
620sdnb
|
|
|
:
|
FER 955fstub
|
|
|
:
|
ZQ 6250rvk
|