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Kinematics and Trajectory Synthesis of Manipulation Robots

  • Book
  • © 1986

Overview

Authors:
  1. Miomir Vukobratović

    1. Serbian Academy of Sciences and Arts Institute »Mihailo Pupin«, Belgrade, Yugoslavia

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  2. Manja Kirćanski

    1. Serbian Academy of Sciences and Arts Institute »Mihailo Pupin«, Belgrade, Yugoslavia

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Part of the book series: Communications and Control Engineering (CCE, volume 3)

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

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Table of contents (6 chapters)

  1. Front Matter

    Pages I-X
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  2. Kinematic Equations

    • Miomir Vukobratović, Manja Kirćanski
    Pages 1-52

  3. Computer-aided Generation of Kinematic Equations in Symbolic Form

    • Miomir Vukobratović, Manja Kirćanski
    Pages 53-137

  4. Inverse Kinematic Problem

    • Miomir Vukobratović, Manja Kirćanski
    Pages 138-155

  5. Kinematic Approach to Motion Generation

    • Miomir Vukobratović, Manja Kirćanski
    Pages 156-171

  6. Dynamic Approach to Motion Generation

    • Miomir Vukobratović, Manja Kirćanski
    Pages 172-213

  7. Motion Generation for Redundant Manipulators

    • Miomir Vukobratović, Manja Kirćanski
    Pages 214-258

  8. Back Matter

    Pages 258-267
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Keywords

About this book

A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.

Authors and Affiliations

  • Serbian Academy of Sciences and Arts Institute »Mihailo Pupin«, Belgrade, Yugoslavia

    Miomir Vukobratović, Manja Kirćanski

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