Title: Control of Manipulation Robots: Theory and Application (Scientific Fundamentals of Robotics)
Publisher: Springer
Publication Date: 2011
Language: English
ISBN 10: 3642818595
ISBN 13: 9783642818592
Binding: Soft cover
Condition: New

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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.

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