Flexible Robot Dynamics and Controls: IFSR International Series in Systems Science and Systems Engineering, cartea 19
Autor Rush D. Robinett III, John Feddema, G. Richard Eisler, Clark Dohrmann, Gordon G. Parker, David G. Wilson, Dennis Stokesen Limba Engleză Paperback – 16 sep 2012
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Paperback (1) | 947.67 lei 6-8 săpt. | |
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Springer Us – 31 dec 2001 | 955.56 lei 6-8 săpt. |
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Specificații
ISBN-13: 9781461351221
ISBN-10: 1461351227
Pagini: 364
Ilustrații: XIX, 339 p.
Dimensiuni: 155 x 235 x 19 mm
Greutate: 0.51 kg
Ediția:Softcover reprint of the original 1st ed. 2002
Editura: Springer Us
Colecția Springer
Seria IFSR International Series in Systems Science and Systems Engineering
Locul publicării:New York, NY, United States
ISBN-10: 1461351227
Pagini: 364
Ilustrații: XIX, 339 p.
Dimensiuni: 155 x 235 x 19 mm
Greutate: 0.51 kg
Ediția:Softcover reprint of the original 1st ed. 2002
Editura: Springer Us
Colecția Springer
Seria IFSR International Series in Systems Science and Systems Engineering
Locul publicării:New York, NY, United States
Public țintă
ResearchCuprins
1 Introduction.- 1.1. Sandia National Laboratories.- 1.2. Flexible Robotics Research Historical Background.- 1.3. Outline of the Book.- 1.4. Chapter 1 Summary.- 1.5. Chapter 1 References.- 1.6. Chapter 1 Problems.- 2 Mathematical Preliminaries.- 2.1. Introduction.- 2.2. Linear Algebra.- 2.3. Linear Control Systems.- 2.4. Digital Systems.- 2.5. Calculus of Variations.- 2.6. Hamilton’s Principle & Lagrange’s Equations.- 2.7. Analytical Optimization.- 2.8. Numerical Optimization.- 2.9. Chapter 2 Summary.- 2.10. Chapter 2 References.- 2.11. Chapter 2 Problems.- 3 Flexible Robot Dynamic Modeling.- 3.1. Introduction.- 3.2. Flexible Link Modeling Preliminaries.- 3.3. The Method of Quadratic Modes.- 3.4. Planar Flexible Robot Dynamics.- 3.5. Actuator Dynamics.- 3.6. Chapter 3 Summary.- 3.7. Chapter 3 References.- 3.8. Chapter 3 Problems.- 4 System Identification.- 4.1. Introduction.- 4.2. Linear Least Squares (LSS).- 4.3. Nonlinear Least Squares.- 4.4. Homotopy Methods.- 4.5. Robot and Actuator System ID.- 4.6. Chapter 4 Summary.- 4.7. Chapter 4 References.- 4.8. Chapter 4 Problems.- 5 Input Shaping for Path Planning.- 5.1. Introduction.- 5.2. Analytic Solutions for Input Shaping.- 5.3. Input Shaping Filters.- 5.4. Constrained Optimization with RQP.- 5.5. Dynamic Programming.- 5.6. Chapter 5 Summary.- 5.7. Chapter 5 References.- 5.8. Chapter 5 Problems.- 6 Linear Feedback Control.- 6.1. Introduction.- 6.2. PD Control of a Gantry Robot.- 6.3. Lag-Stabilized Feedback Control.- 6.4. Non-collocated Controls.- 6.5. Feedforward Control.- 6.6. Linear Quadratic Regulator.- 6.7. Linear Optimal Estimation.- 6.8. Linear Quadratic Gaussian (LQG) Control.- 6.9. Chapter 6 Summary.- 6.10. Chapter 6 References.- 6.11. Chapter 6 Problems.- 7 Nonlinear Systems and Sliding Mode Control.- 7.1.Introduction.- 7.2. State-Space Representation of a Dynamic System.- 7.3. Stability.- 7.4. Sliding Mode Control.- 7.5. Chapter 7 Summary.- 7.6. Chapter 7 References.- 7.7. Chapter 7 Problems.- 8 Adaptive Sliding Mode Control.- 8.1. Introduction.- 8.2. Adaptive Sliding Mode Control.- 8.3. Examples.- 8.4. Chapter 8 Summary.- 8.5. Chapter 8 References.- 8.6. Chapter 8 Problems.- Appendix A: VFO2AD Optimization.- Appendix C: Hardware &: Software Support.
Recenzii
From the reviews:
"‘Flexible Robot Dynamics and Controls’ is the result of more than 10 years of research and development in flexible robots and structures at Sandia National Laboratories. … the aim of the author to provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals in the fields of flexible robot dynamics and controls has been achieved. … The manner of presentation seems to be comprehensive and a valuable addition to the literature for practitioners and researchers working in control of elastic structures." (Amit Ailon, Automatica, Vol. 41, 2005)
"‘Flexible Robot Dynamics and Controls’ is the result of more than 10 years of research and development in flexible robots and structures at Sandia National Laboratories. … the aim of the author to provide an upper-level undergraduate and graduate textbook and a reference for experienced professionals in the fields of flexible robot dynamics and controls has been achieved. … The manner of presentation seems to be comprehensive and a valuable addition to the literature for practitioners and researchers working in control of elastic structures." (Amit Ailon, Automatica, Vol. 41, 2005)