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Flexible robotics applications to multiscale manipulations /
Flexible robotics : applications to multiscale manipulations

Author: edited by Mathieu Grossard, Nicolas Chaillet, St�ephane R�egnier. R�egnier, St�ephane. ; ; Mathieu Grossard; Nicolas Chaillet; Stéphane Régnier
Publisher: London : ISTE, 2013.
Series: Robotics series
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:

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  Read more...

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Genre/Form: Electronic books
Additional Physical Format: Print version:
Flexible robotics.
London : ISTE, 2013
(DLC) 2013939914
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: edited by Mathieu Grossard, Nicolas Chaillet, St�ephane R�egnier. R�egnier, St�ephane. ; ; Mathieu Grossard; Nicolas Chaillet; Stéphane Régnier
ISBN: 9781118572009 1118572009 1848215207 9781848215207
OCLC Number: 859161203
Description: 1 online resource (xviii, 384 pages :) : illustrations.
Contents: Introduction xiii Mathieu GROSSARD, Stephane REGNIER and Nicolas CHAILLET Chapter 1. Design of Integrated Flexible Structures for Micromanipulation 1 Mathieu GROSSARD, Mehdi BOUKALLEL, Stephane REGNIER and Nicolas CHAILLET 1.1. Design and control problems for flexible structures in micromanipulation 2 1.2. Integrated design in micromechatronics 11 1.3. Example of an optimal synthesis method for flexible piezoelectric transduction structures 25 1.4. Conclusion 31 1.5. Bibliography 32 Chapter 2. Flexible Structures Representation and Notable Properties in Control 37 Mathieu GROSSARD, Arnaud HUBERT, Stephane REGNIER and Nicolas CHAILLET 2.1. State-space representation of flexible structures 38 2.2. The concepts of modal controllability and observability 47 2.3. Reduction of models 52 2.4. Contribution of modal analysis criteria to topological optimization 56 2.5. Conclusion 68 2.6. Bibliography 69 Chapter 3. Structured Energy Approach for the Modeling of Flexible Structures 73 Nandish R. CALCHAND, Arnaud HUBERT, Yann LE GORREC and Hector RAMIREZ ESTAY 3.1. Introduction 73 3.2. Finite-dimensional systems 75 3.3. Infinite-dimensional systems 95 3.4. Conclusion 111 3.5. Bibliography 112 Chapter 4. Open-Loop Control Approaches to Compliant Micromanipulators 115 Yassine HADDAB, Vincent CHALVET and Micky RAKOTONDRABE 4.1. Introduction 115 4.2. Piezoelectric microactuators 116 4.3. Thermal microactuators 128 4.4. Conclusion 142 4.5. Bibliography 142 Chapter 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers 145 Javier MARTIN AMEZAGA and Mathieu GROSSARD 5.1. Robotic gripper systems 146 5.2. Actuation architecture and elastic elements 153 5.3. Structural flexibility 166 5.4. Conclusion 177 5.5. Bibliography 178 Chapter 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation 181 Mehdi BOUKALLEL, Hanna YOUSEF, Christelle GODIN and Caroline COUTIER 6.1. Introduction 181 6.2. Human dexterous manipulation as a basis for robotic manipulation 182 6.3. Technologies for tactile sensing 188 6.4. A comparison of sensor solutions and sensing techniques 213 6.5. The Nail sensor 214 6.6. From the Nail sensor to tactile skin 220 6.7. From tactile skin to artificial touch system 225 6.8. Applications and signal analysis 228 6.9. Summary and conclusion 233 6.10. Bibliography 235 Chapter 7. Flexures for High-Precision Manipulation Robots 243 Reymond CLAVEL, Simon HENEIN and Murielle RICHARD 7.1. High-precision industrial robots background 243 7.2. Kinematic analysis of simple flexures 248 7.3. Design method of parallel modular kinematics for flexures 260 7.4. Example of the Legolas 5 robot design 264 7.5. Bibliography 273 Chapter 8. Modeling and Motion Control of Serial Robots with Flexible Joints 275 Maria MAKAROV and Mathieu GROSSARD 8.1. Introduction 275 8.2. Modeling 276 8.3. Identification 284 8.4. Motion control 295 8.5. Conclusion 310 8.6. Bibliography 310 Chapter 9. Dynamic Modeling of Deformable Manipulators 321 Frederic BOYER and Ayman BELKHIRI 9.1. Introduction 321 9.2. Newton Euler model of an elastic body 324 9.3. Kinematic model of a deformable manipulator 337 9.4. Dynamic model of a deformable manipulator 340 9.5. Example 342 9.6. Conclusion 346 9.7. Bibliography 346 Chapter 10. Robust Control of Robotic Manipulators with Structural Flexibilities 349 Houssem HALALCHI, Loic CUVILLON, Guillaume MERCERE and Edouard LAROCHE 10.1. Introduction 349 10.2. LTI methodology 350 10.3. Toward an LPV methodology 359 10.4. Conclusion 379 10.5. Bibliography 379 List of Authors 383 Index 385
Series Title: Robotics series
Responsibility: edited by Mathieu Grossard, Nicolas Chaillet, Stéphane Régnier.

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