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Control of Manipulation Robots: Theory and Application by M. Vukobratovic

Control of Manipulation Robots: Theory and Application

by M. Vukobratovic
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Book cover type: Paperback
  • ISBN13: 9783642818592
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Springer
  • Publisher Imprint: Springer
  • Publication Date:
  • Pages: 366
  • Original Price: EUR 49.99
  • Language: English
  • Edition: Softcover Repri
  • Item Weight: 659 grams
  • BISAC Subject(s): Electrical, Industrial Engineering, and Robotics

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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