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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Control of Manipulation Robots: Theory and Application

Control of Manipulation Robots: Theory and Application

Stokic, D.
Vukobratovic, M.

Paperback

Technology & Engineering

ISBN10: 3642818595
ISBN13: 9783642818592
Publisher: Springer
Published: Dec 8 2011
Pages: 366
Weight: 1.34
Height: 0.79 Width: 6.69 Depth: 9.61
Language: English
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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