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Control of Manipulation Robots

Theory and Application

  • Textbook
  • © 1982

Overview

Authors:
  1. Miomir Vukobratović

    1. Institute »Mihailo Pupin«, Beograd, Yugoslavia

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  2. Dragan Stokić

    1. Institute »Mihailo Pupin«, Beograd, Yugoslavia

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Part of the book series: Communications and Control Engineering (CCE, volume 2)

Part of the book sub series: Scientific Fundamentals of Robotics (1186)

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Table of contents (4 chapters)

  1. Front Matter

    Pages I-XIII
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  2. General Principles of Control Synthesis of Robots and Manipulators

    • Miomir Vukobratović, Dragan Stokić
    Pages 1-30

  3. Dynamics of Manipulators

    • Miomir Vukobratović, Dragan Stokić
    Pages 31-68

  4. Synthesis of Manipulation Control

    • Miomir Vukobratović, Dragan Stokić
    Pages 69-166

  5. Control Synthesis for Typical Manipulation Tasks

    • Miomir Vukobratović, Dragan Stokić
    Pages 167-360

  6. Back Matter

    Pages 361-363
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Keywords

About this book

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.

Authors and Affiliations

  • Institute »Mihailo Pupin«, Beograd, Yugoslavia

    Miomir Vukobratović, Dragan Stokić

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