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Scientific Fundamentals of Robotics

Control of Manipulation Robots

Theory and Application

Authors: Vukobratovic, M., Stokic, D.

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About this Textbook

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.

Table of contents (4 chapters)

Table of contents (4 chapters)
  • General Principles of Control Synthesis of Robots and Manipulators

    Pages 1-30

    Vukobratović, D. Sc., Ph. D. Miomir (et al.)

  • Dynamics of Manipulators

    Pages 31-68

    Vukobratović, D. Sc., Ph. D. Miomir (et al.)

  • Synthesis of Manipulation Control

    Pages 69-166

    Vukobratović, D. Sc., Ph. D. Miomir (et al.)

  • Control Synthesis for Typical Manipulation Tasks

    Pages 167-360

    Vukobratović, D. Sc., Ph. D. Miomir (et al.)

Buy this book

eBook $74.99
price for USA in USD (gross)
  • ISBN 978-3-642-81857-8
  • 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 in USD
  • ISBN 978-3-642-81859-2
  • Free shipping for individuals worldwide
  • Immediate ebook access, if available*, with your print order
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Control of Manipulation Robots
Book Subtitle
Theory and Application
Authors
Series Title
Scientific Fundamentals of Robotics
Series Volume
2
Copyright
1982
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin, Heidelberg
eBook ISBN
978-3-642-81857-8
DOI
10.1007/978-3-642-81857-8
Softcover ISBN
978-3-642-81859-2
Series ISSN
0178-5362
Edition Number
1
Number of Pages
XIV, 366
Topics

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