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17729907 |
| 003 - CONTROL NUMBER IDENTIFIER |
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CITU |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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20230209090254.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION |
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| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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130508s2013 enka b 001 0 eng d |
| 010 ## - LIBRARY OF CONGRESS CONTROL NUMBER |
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| LC control number |
2013939914 |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
9781848215207 |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
9781118572016 |
| 035 ## - SYSTEM CONTROL NUMBER |
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| System control number |
(OCoLC)ocn814372743 |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
YDXCP |
| Language of cataloging |
eng |
| Transcribing agency |
YDXCP |
| Description conventions |
rda |
| Modifying agency |
BTCTA |
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OCLCQ |
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YNK |
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TXA |
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U3G |
| -- |
DLC |
| 041 ## - LANGUAGE CODE |
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| Language code of text/sound track or separate title |
eng |
| 042 ## - AUTHENTICATION CODE |
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| Authentication code |
lccopycat |
| 050 00 - LIBRARY OF CONGRESS CALL NUMBER |
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| Classification number |
TJ211.35 |
| Item number |
.F54 2013 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
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| Classification number |
629.892 |
| Edition number |
23 |
| 245 00 - TITLE STATEMENT |
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| Title |
Flexible robotics : |
| Remainder of title |
applications to multiscale manipulations / |
| Statement of responsibility, etc |
edited by Mathieu Grossard, Nicolas Chaillet, Stéphane Régnier. |
| 264 #1 - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT) |
|---|
| Place of publication, distribution, etc |
London, UK : |
| Name of publisher, distributor, etc |
ISTE Ltd ; |
| Place of publication, distribution, etc |
Hoboken, NJ : |
| Name of publisher, distributor, etc |
John Wiley & Sons, Inc., |
| Date of publication, distribution, etc |
2013. |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
1 online resource (416 pages). |
| 336 ## - CONTENT TYPE |
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| Content type term |
text |
| Content type code |
txt |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Media type code |
n |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
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| Carrier type term |
online resource |
| Carrier type code |
nc |
| Source |
rdacarrier |
| 500 ## - GENERAL NOTE |
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| General note |
ABOUT THE AUTHOR<br/>Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France<br/><br/>Nicolas Chaillet, FEMTO-ST, Besançon, France<br/><br/>Stéphane Régnier, ISIR, UPMC, Paris, France |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc |
Includes bibliographical references and index. |
| 505 0# - CONTENTS |
|---|
| Formatted contents note |
Introduction xiii<br/>Mathieu GROSSARD, Stéphane RÉGNIER and Nicolas CHAILLET<br/><br/>Chapter 1. Design of Integrated Flexible Structures for Micromanipulation 1<br/>Mathieu GROSSARD, Mehdi BOUKALLEL, Stéphane RÉGNIER and Nicolas CHAILLET<br/><br/>1.1. Design and control problems for flexible structures in micromanipulation 2<br/><br/>1.2. Integrated design in micromechatronics 11<br/><br/>1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 25<br/><br/>1.4. Conclusion 31<br/><br/>1.5. Bibliography 32<br/><br/>Chapter 2. Flexible Structures’ Representation and Notable Properties in Control 37<br/>Mathieu GROSSARD, Arnaud HUBERT, Stéphane RÉGNIER and Nicolas CHAILLET<br/><br/>2.1. State-space representation of flexible structures 38<br/><br/>2.2. The concepts of modal controllability and observability 47<br/><br/>2.3. Reduction of models 52<br/><br/>2.4. Contribution of modal analysis criteria to topological optimization 56<br/><br/>2.5. Conclusion 68<br/><br/>2.6. Bibliography 69<br/><br/>Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures 73<br/>Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY<br/><br/>3.1. Introduction 73<br/><br/>3.2. Finite-dimensional systems 75<br/><br/>3.3. Infinite-dimensional systems 95<br/><br/>3.4. Conclusion 111<br/><br/>3.5. Bibliography 112<br/><br/>Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators 115<br/>Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE<br/><br/>4.1. Introduction 115<br/><br/>4.2. Piezoelectric microactuators 116<br/><br/>4.3. Thermal microactuators 128<br/><br/>4.4. Conclusion 142<br/><br/>4.5. Bibliography 142<br/><br/>Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145<br/>Javier MARTIN AMEZAGA and Mathieu GROSSARD<br/><br/>5.1. Robotic gripper systems 146<br/><br/>5.2. Actuation architecture and elastic elements 153<br/><br/>5.3. Structural flexibility 166<br/><br/>5.4. Conclusion 177<br/><br/>5.5. Bibliography 178<br/><br/>Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation 181<br/>Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER<br/><br/>6.1. Introduction 181<br/><br/>6.2. Human dexterous manipulation as a basis for robotic manipulation 182<br/><br/>6.3. Technologies for tactile sensing 188<br/><br/>6.4. A comparison of sensor solutions and sensing techniques 213<br/><br/>6.5. The Nail sensor 214<br/><br/>6.6. From the Nail sensor to tactile skin 220<br/><br/>6.7. From tactile skin to artificial touch system 225<br/><br/>6.8. Applications and signal analysis 228<br/><br/>6.9. Summary and conclusion 233<br/><br/>6.10. Bibliography 235<br/><br/>Chapter 7. Flexures for High-Precision Manipulation Robots 243<br/>Reymond CLAVEL, Simon HENEIN and Murielle RICHARD<br/><br/>7.1. High-precision industrial robots background 243<br/><br/>7.2. Kinematic analysis of simple flexures 248<br/><br/>7.3. Design method of parallel modular kinematics for flexures 260<br/><br/>7.4. Example of the Legolas 5 robot design 264<br/><br/>7.5. Bibliography 273<br/><br/>Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints 275<br/>Maria MAKAROV and Mathieu GROSSARD<br/><br/>8.1. Introduction 275<br/><br/>8.2. Modeling 276<br/><br/>8.3. Identification 284<br/><br/>8.4. Motion control 295<br/><br/>8.5. Conclusion 310<br/><br/>8.6. Bibliography 310<br/><br/>Chapter 9. Dynamic Modeling of Deformable Manipulators 321<br/>Frédéric BOYER and Ayman BELKHIRI<br/><br/>9.1. Introduction 321<br/><br/>9.2. Newton–Euler model of an elastic body 324<br/><br/>9.3. Kinematic model of a deformable manipulator 337<br/><br/>9.4. Dynamic model of a deformable manipulator 340<br/><br/>9.5. Example 342<br/><br/>9.6. Conclusion 346<br/><br/>9.7. Bibliography 346<br/><br/>Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities 349<br/>Houssem HALALCHI, Loïc CUVILLON, Guillaume MERCÈRE and Edouard LAROCHE<br/><br/>10.1. Introduction 349<br/><br/>10.2. LTI methodology 350<br/><br/>10.3. Toward an LPV methodology 359<br/><br/>10.4. Conclusion 379<br/><br/>10.5. Bibliography 379<br/><br/>List of Authors 383<br/><br/>Index 385 |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc |
The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data.<br/><br/>Contents<br/><br/>1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet.<br/>2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet.<br/>3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay.<br/>4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe.<br/>5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard.<br/>6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier.<br/>7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard.<br/>8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard.<br/>9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri.<br/>10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. |
| 526 ## - STUDY PROGRAM INFORMATION NOTE |
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| -- |
600-699 |
| -- |
629 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Robots |
| General subdivision |
Control systems. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Manipulators (Mechanism) |
| 655 #4 - INDEX TERM--GENRE/FORM |
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| Genre/form data or focus term |
Electronic books. |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
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| Personal name |
Grossard, Mathieu, |
| Relator term |
editor of compilation. |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Chaillet, Nicolas, |
| Relator term |
editor of compilation. |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Régnier, Stéphane, |
| Relator term |
editor of compilation. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE |
|---|
| Uniform title |
Robotics series. |
| 856 ## - ELECTRONIC LOCATION AND ACCESS |
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| Link text |
Full text available at Wiley Online Library Click here to view |
| Uniform Resource Identifier |
https://onlinelibrary.wiley.com/doi/book/10.1002/9781118572016 |
| 942 ## - ADDED ENTRY ELEMENTS |
|---|
| Source of classification or shelving scheme |
|
| Item type |
EBOOK |