M. Vukobratovic; D. Stokic Control of Manipulation Robots 9783642818592

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Автор: M. Vukobratovic; D. Stokic
Название: Control of Manipulation Robots
ISBN: 9783642818592
Издательство: Springer
Классификация:

Инженерное дело: Общие вопросы

Электроника

Техника автоматического регулирования

Техника связи / дальней связи

ISBN-10: 3642818595
Обложка/Формат: Paperback
Страницы: 366
Вес: 0.61 кг.
Дата издания: 08.12.2011
Серия: Scientific Fundamentals of Robotics
Язык: English
Размер: 244 x 170 x 20
Основная тема: Engineering
Подзаголовок: Theory and Application
Ссылка на Издательство: Link
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Поставляется из: Германии
Описание: 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.

Control of Manipulation Robots, M. Vukobratovic; D. Stokic