Scientific Fundamentals of Robotics

Real-Time Dynamics of Manipulation Robots

Authors: Vukobratovic, M., Kircanski, N.

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About this Textbook

This is the fourth book from the Series "Scientific Fundamentals of Ro­ botics". The first two volumes have established abackqround for studying the dynamics and control of robots. While the first book was exclusive­ ly devoted to the dynamics of active spatial mechanisms, the second treated the problems of the dynamic control of manipulation robots. In contrast to the first two books, where recursive computer-aided me­ thods for setting robot dynamic equations where described, this mono­ graph presents a new approach to the formation of robot dynamics. The goal is to achieve the real-time model computation using up-to-date mi­ crocomputers. The presented concept could be called a numeric-symbolic, or analytic, approach to robot modelling. It will be shown that the generation of analytical robot model may give new excellent possibili­ ties concerning real-time applications. It is of essential importance in synthesizing the algorithms for nonadaptive and adaptive control of manipulation robots. If should be pointed out that the high computational efficiency has been achieved by off-line computer-aided preparation of robot equations. The parameters of a specified robot must be given in advance. This, af­ ter each significant variation in robot structure (geometrical and dy­ namical parameters) ,we must repeat the off-line stage. Thus is why the numerical procedures will always have their place in studying the dy­ namic properties of robotic systems. This monograph is organized in 5 chapters.

Table of contents (6 chapters)

  • Introduction

    Vukobratović, Miomir (et al.)

    Pages 1-7

  • Survey of Computer-Aided Robot Modelling Methods

    Vukobratović, Miomir (et al.)

    Pages 8-52

  • Computer-Aided Method for Closed-Form Dynamic Robot Model Construction

    Vukobratović, Miomir (et al.)

    Pages 53-103

  • Computer-Aided Generation of Numeric-Symbolic Robot Model

    Vukobratović, Miomir (et al.)

    Pages 104-139

  • Model Optimization and Real-Time Program-Code Generation

    Vukobratović, Miomir (et al.)

    Pages 140-160

Buy this book

eBook $69.99
price for USA (gross)
  • ISBN 978-3-642-82198-1
  • 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 978-3-642-82200-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Real-Time Dynamics of Manipulation Robots
Authors
Series Title
Scientific Fundamentals of Robotics
Series Volume
4
Copyright
1985
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag, Berlin, Heidelberg
eBook ISBN
978-3-642-82198-1
DOI
10.1007/978-3-642-82198-1
Softcover ISBN
978-3-642-82200-1
Series ISSN
0178-5362
Edition Number
1
Number of Pages
XII, 242
Topics