000			03119nam a2200373Ia 4500
001			CRC0KE21981PDF
003			FlBoTFG
005			20230513115139.0
006			m o d
007			cr cn
008			130725s2013 fluad ob 001 0 eng d
020			_a9780429101144
035			_a(OCoLC)859343598
040			_aFlBoTFG _cFlBoTFG
082			_a629.8933 _bL693
090			_aTJ211.415 _b.L53 2013
100	1		_aLi, Zhijun and Ge, Shuzhi Sam
245	1	0	_aFundamentals in Modeling and Control of Mobile Manipulators
260			_aBoca Raton : _bCRC Press, _cc2013.
300			_a295 p. :
490	1		_aAutomation and control engineering
504			_aIncludes bibliographical references and index.
505	0		_a1. Introduction -- 2. Kinematics and dynamics -- 3. Path planning and motion generation -- 4. Model-based control -- 5. Adaptive robust hybrid motion/force control -- 6. Under-actuated control -- 7. Coordination control -- 8. Cooperation control -- 9. Appendix.
520			_aPreface In the robotics and automation literature, mobile manipulators (manipulators mounted on mobile bases, platforms or vehicles) have received much attention since the beginning of the nineties in 20th century for its extended space of operation and extra degrees of freedom offered by the vehicle for accomplishing specific (typically , long range) manipulative tasks that otherwise could not be executed and accomplished. With a mobile platform, mobile manipulators can moving around and reach to places unfriendly to human beings, and perform operations at over a large space, or long range. Indeed, they can find a wide range of applications including (i) service or security applications at factories, offices, or homes, (ii) search and rescue operations in a harsh, demanding and/or dangerous environment, (iii) remote operations or explorations in remote place or space, and among others. Such systems combine the complementary advantages of mobile platforms and robotic arms for extend operational ranges an functionality, and at the same times bring along the complexity and difficulty in dynamic modelling and control system design for such a class of systems. One the one hand, mobile robotic manipulators possess strongly coupled dynamics of mobile platforms and robotic manipulators, not to mention the non-holonomic constraints introduced by the wheeled/tracked mobile platforms, which present much difficulties in the motion planning, control, coordination and cooperation of such systems. On the other hand, much advances in nonlinear system analysis and control system design offer powerful tools and fundamental concepts for the control of mobile manipulator systems-- _cProvided by publisher.
530			_aAlso available in print edition.
538			_aMode of access: World Wide Web.
650		0	_aMobile robots.
650		0	_aManipulators (Mechanism)
655		7	_aElectronic books. _2lcsh
776	1		_z9781466580411 (hardback)
830		0	_aAutomation and control engineering.
856	4	0	_uhttp://marc.crcnetbase.com/isbn/9781466580428 _qebook
942			_2ddc _cEBK
999			_c1114 _d1114