Control of Manipulation Robots: Theory and Application (Communications and Control Engineering (2))

Vukobratovic, M., Stokic, D.

ISBN 10: 3642818595 / ISBN 13: 9783642818592

Edité par Springer, 2011

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N° de réf. du vendeur ERICA79636428185956

Détails bibliographiques

• Titre: Control of Manipulation Robots: Theory and Application (Communications and Control Engineering (2))
• Éditeur: Springer
• Date de parution: 2011
• Langue: anglais
• ISBN à 10 chiffres: 3642818595
• ISBN à 13 chiffres: 9783642818592
• Reliure: Paperback
• État de l'article: Like New
• Type de livre: book

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Synopsis

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.