Control of Manipulation Robots: Theory and Application (Communications and Control Engineering / Scientific Fundamentals of Robotics)

M. Vukobratovic

ISBN 10: 3642818595 / ISBN 13: 9783642818592

Published by Springer-Verlag Berlin Heidelberg, 2012

About this Item

reprint edition. 384 pages. 9.60x6.70x0.80 inches. In Stock.

Seller Inventory # x-3642818595

Bibliographic Details

• Title: Control of Manipulation Robots: Theory and Application (Communications and Control Engineering / Scientific Fundamentals of Robotics)
• Publisher: Springer-Verlag Berlin Heidelberg
• Publication Date: 2012
• Language: English
• ISBN 10: 3642818595
• ISBN 13: 9783642818592
• Binding: Paperback
• Condition: Brand New
• Weight: 0.61 kilograms

About this title

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.