Kinematics and Trajectory Synthesis of Manipulation Robots

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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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.

• Robots
• actuator
• algorithms
• control
• control algorithm
• kinematics
• robot
• robotics
• Engineering Economics

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

  Miomir Vukobratović, Manja Kirćanski

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