Control of Manipulation Robots

1. Front Matter

   Pages I-XIII

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2. General Principles of Control Synthesis of Robots and Manipulators

   • Miomir Vukobratović, Dragan Stokić

   Pages 1-30

3. Dynamics of Manipulators

   • Miomir Vukobratović, Dragan Stokić

   Pages 31-68

4. Synthesis of Manipulation Control

   • Miomir Vukobratović, Dragan Stokić

   Pages 69-166

5. Control Synthesis for Typical Manipulation Tasks

   • Miomir Vukobratović, Dragan Stokić

   Pages 167-360

6. Back Matter

   Pages 361-363

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This monograph represents the second book of the series entitled: "SCI­ ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control based~n the knowledge of dynamic models (presented in de­ tail in the first_ volume). In this way a logical continuity is formed in which one may easily recognize a "dynamic" approach to the design of manipulation r-obots and the synthesis of control algorithms based on exact mathematical models of dynamics of open spatial mechanisms. When writing the monograph, the authors had the following objective: to prove that a study of dynamic properties of manipulation mechanisms is justifiable, to use the dynamic properties in the synthesis of con­ trol algorithms, and to determine, from one case to another, a proper measure of dynamics depending on the type of manipulation task, the "v$!locity at which "it is carried out, and on the type of the manipu- tion mechanisms itself. The authors believe they have thus made the study of dynamics,' aimed at synthesizing algorithms for dynamic con­ trol, free from unnecessary academicism and allowed the readers to apply all the results presented here to practical purposes of manipu­ lator design in thfil broader sense of the word. At this point, the au­ thors would like to present some concepts which were their guidelines in preparing this text.

• Industrieroboter
• Manipulator
• Regelung
• Robots
• algorithms
• control
• control algorithm
• feedback
• industrial robot
• robot
• robotics
• simulation
• stability
• Engineering Economics

• Institute »Mihailo Pupin«, Beograd, Yugoslavia

  Miomir Vukobratović, Dragan Stokić

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