Control of Manipulation Robots: Theory and Application

By Miomir Vukobratović and Dragan Stokić

This monograph represents the second book of the series entitled: "SCI- ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based n the knowledge of dynamic models (presented in de- tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con- trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics, ' aimed at synthesizing algorithms for dynamic con- trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu- lator design in thfil broader sense of the word. At this point, the au- thors would like to present some concepts which were their guidelines in preparing this text.

• Format: Paperback
• Language: English
• ISBN: 3642818595
• ISBN13: 9783642818592
• Release Date: December 2011
• Publisher: Springer
• Length: 366 Pages
• Weight: 1.34 lbs.
• Dimensions: 0.8" x 6.7" x 9.6"