000			04078nam a22003615i 4500
001			102829
003			DE-He213
005			20230102113101.0
007			cr nn 008mamaa
008			170921s2018 gw | s |||| 0|eng d
020			_a9783319610221
024	7		_a10.1007/978-3-319-61022-1 _2doi
050		4	_aUG1242.D7 _bO773 2018 EB
100	1		_aOrsag, Matko _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _1http://viaf.org/viaf/305704363/
245	1	0	_aAerial Manipulation _cby Matko Orsag, Christopher Korpela, Paul Oh, Stjepan Bogdan.
264		1	_aCham _bSpringer International Publishing _c2018
300			_a1 recurso en línea (XV, 235 páginas 148 ilustraciones, 98 ilustraciones a color.)
347			_atext file _bPDF
490	0		_aAdvances in Industrial Control _x1430-9491
505	0		_aIntroduction -- Coordinate Systems and Transformations -- Physics of UAV Flight -- Manipulator Kinematics -- Aerial Manipulator Dynamics -- Sensors and Control -- Mission Planning and Control.- Multirotor Aerodynamics and Actuation.- Aerial Manipulator Kinematics -- Aerial Manipulator Dynamics.- Sensors and Control.-  Mission Planning and Control.
520	3		_aThis text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton-Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange-Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.  .
650		7	_aDrones _9667210
700	1		_aKorpela, Christopher _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _1http://viaf.org/viaf/100153953330905562737/
700	1		_aOh, Paul _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/no2009196228 _1http://viaf.org/viaf/49089788/
700	1		_aBogdan, Stjepan _eautor _4aut _4http://id.loc.gov/vocabulary/relators/aut _0http://id.loc.gov/authorities/names/n2005068432 _1http://viaf.org/viaf/2510555/
776	0	8	_iEdición impresa: _z9783319610207
776	0	8	_iEdición impresa: _z9783319610214
776	0	8	_iEdición impresa: _z9783319869865
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-319-61022-1 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
490	0		_aEngineering (Springer-11647)
988			_aEBSPRINGER_2018
998			_b01/2019 _dz _ea _feng _ggw _h0
999			_c102829 _d102829 _x1