Skip to main content
SpringerLink
Log in
Book cover

Dynamics of Robots with Contact Tasks

  • Book
  • © 2003

Overview

Authors:
  1. Miomir Vukobratovic

    1. Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia & Montenegro

    View author publications

    You can also search for this author in PubMed   Google Scholar

  2. Veljko Potkonjak

    1. Faculty of Electrical Engineering, University of Belgrade, Belgrade, Serbia & Montenegro

    View author publications

    You can also search for this author in PubMed   Google Scholar

  3. Vladimir Matijevic

    1. Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia & Montenegro

    View author publications

    You can also search for this author in PubMed   Google Scholar

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.00
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (9 chapters)

  1. Front Matter

    Pages i-xv
    Download chapter PDF

  2. Robot Dynamics — Problems, Research, and Results

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 1-9

  3. Free Motion of a Rigid-Body Robot Arm

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 11-47

  4. Rigid-Body Contact of a Robot with Its Environment

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 49-78

  5. Soft and Elastodynamic Contacts

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 79-136

  6. Robot Interacting with Complex Dynamic Environment

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 137-173

  7. Dynamics of Multi-ARM Cooperative Robots with Elastic Contacts

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 175-206

  8. New Trends in Contact Tasks

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 207-223

  9. Appendix 1

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 225-234

  10. Appendix 2

    • Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 235-246

  11. Back Matter

    Pages 247-248
    Download chapter PDF
Back to top

Keywords

About this book

As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues.
The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.

Authors and Affiliations

  • Robotics Laboratory, Mihailo Pupin Institute, Belgrade, Serbia & Montenegro

    Miomir Vukobratovic, Vladimir Matijevic

  • Faculty of Electrical Engineering, University of Belgrade, Belgrade, Serbia & Montenegro

    Veljko Potkonjak

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation