Real-Time Dynamics of Manipulation Robots

  • Miomir Vukobratović
  • Nenad Kirćanski

Part of the Communications and Control Engineering Series book series (CCE, volume 4)

Table of contents

  1. Front Matter
    Pages I-XII
  2. Miomir Vukobratović, Nenad Kirćanski
    Pages 1-7
  3. Miomir Vukobratović, Nenad Kirćanski
    Pages 8-52
  4. Miomir Vukobratović, Nenad Kirćanski
    Pages 53-103
  5. Miomir Vukobratović, Nenad Kirćanski
    Pages 104-139
  6. Miomir Vukobratović, Nenad Kirćanski
    Pages 140-160
  7. Miomir Vukobratović, Nenad Kirćanski
    Pages 161-232
  8. Back Matter
    Pages 233-242

About this book

Introduction

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.

Keywords

Robotics Robots adaptive control algorithms control model modeling robot

Authors and affiliations

  • Miomir Vukobratović
    • 1
  • Nenad Kirćanski
    • 2
  1. 1.Institute »Mihailo Pupin«Serbian Academy of Sciences and ArtsBeogradYugoslavia
  2. 2.Institute »Mihailo Pupin«BeogradYugoslavia

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-82198-1
  • Copyright Information Springer-Verlag Berlin Heidelberg 1985
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-82200-1
  • Online ISBN 978-3-642-82198-1
  • Series Print ISSN 0178-5354
  • About this book