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Scientific Fundamentals of Robotics

Dynamics of Manipulation Robots

Theory and Application

Authors: Vukobratovic, M., Potkonjak, V.

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About this Textbook

This monograph represents the first book of the series entitled "SCI­ ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap­ proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de­ sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea­ tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo­ rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for­ mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe­ sis and control of artificial motion, have contributed to a gradual formation of this discipline.

Table of contents (5 chapters)

  • General Remarks about Robot and Manipulator Dynamics

    Vukobratović, Miomir (et al.)

    Pages 1-25

  • Computer-Aided Methods for Setting and Solving Mathematical Models of Active Mechanisms in Robotics

    Vukobratović, Miomir (et al.)

    Pages 26-149

  • Simulation of Manipulator Dynamics and Adjusting to Functional Movements

    Vukobratović, Miomir (et al.)

    Pages 150-218

  • Dynamics of Manipulators with Elastic Segments

    Vukobratović, Miomir (et al.)

    Pages 219-251

  • Dynamical Method for the Evaluation and Choice of Industrial Manipulators

    Vukobratović, Miomir (et al.)

    Pages 252-299

Buy this book

eBook $69.99
price for USA (gross)
  • ISBN 978-3-642-81854-7
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $99.00
price for USA
  • ISBN 978-3-642-81856-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Dynamics of Manipulation Robots
Book Subtitle
Theory and Application
Authors
Series Title
Scientific Fundamentals of Robotics
Series Volume
1
Copyright
1982
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin, Heidelberg
eBook ISBN
978-3-642-81854-7
DOI
10.1007/978-3-642-81854-7
Softcover ISBN
978-3-642-81856-1
Series ISSN
0178-5362
Edition Number
1
Number of Pages
XIV, 306
Topics