Applied Dynamics Of Manipulation Robots
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Applied Dynamics Of Manipulation Robots
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Author : Miomir Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Applied Dynamics Of Manipulation Robots written by Miomir Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
During the period 1982-1985, six books of the series: Scientific Fun damentals of Robotics were published by Springer-Verlag. In chronolo gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli fied but can only be elaborated in more detail.
Applied Dynamics And Cad Of Manipulation Robots
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Author : M. Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-12-11
Applied Dynamics And Cad Of Manipulation Robots written by M. Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-11 with Computers categories.
This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro bots as well as the essential concepts of computer-aided design of their mechanics. Vol. 1 of the Series also contains the main practical re sults from the elastodynamics of manipulation robots, having in mind a need for forming a computer procedure which allows efficient checks of elastic deformations of a manipulator tip or some other of its charac teristic points. Wishing to add a highly applications-oriented dimension to the dynamic aspect of studies of manipulation robots, the authors have made a kind of a topic-based selection by leaving unconsidered some aspects of studies of robots, such as elasticity, and discussing others, more im portant in their opinion, to such an extent as suffices to make them practically applicable. The authors have decided not to treat in detail the problem of flexible manipulation robots for two reasons. The first results from the atti tude that the permissible (desired) robot elasticity may, satisfacto rily well, be tested using the method described in Vol. 1 of the Series.
Applied Dynamics Of Manipulation Robots
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Author : Miomir·Vukobratovi鈉
language : en
Publisher:
Release Date : 1989
Applied Dynamics Of Manipulation Robots written by Miomir·Vukobratovi鈉 and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Manipulators (Mechanism) categories.
Applied Control Of Manipulation Robots
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Author : Miomir Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Applied Control Of Manipulation Robots written by Miomir Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai ned from sensors. The robot control is closely related to the robot pro gramming (i. e. the development of highly-specialized programming lan guages for robot programming). Besides, numerous aspects of the con trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text book.
Applied Dynamics Of Manipulation Robots
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Author : Miomir VukobratoviC
language : en
Publisher:
Release Date : 1989
Applied Dynamics Of Manipulation Robots written by Miomir VukobratoviC and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Manipulators (Mechanism) categories.
Dynamics Of Manipulation Robots
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Author : M. Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Dynamics Of Manipulation Robots written by M. Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe sis and control of artificial motion, have contributed to a gradual formation of this discipline.
Control Of Manipulation Robots
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Author : M. Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Control Of Manipulation Robots written by M. Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Fundamentals Of Mechanics Of Robotic Manipulation
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Author : Marco Ceccarelli
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-03-09
Fundamentals Of Mechanics Of Robotic Manipulation written by Marco Ceccarelli and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-09 with Technology & Engineering categories.
This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author’s own research in the field since the late 1980’s.
Applied Control Of Manipulation Robots
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Author : Miomir·Vukobratovi鈉
language : en
Publisher:
Release Date : 1989
Applied Control Of Manipulation Robots written by Miomir·Vukobratovi鈉 and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989 with Manipulators (Mechanism) categories.
A Mathematical Introduction To Robotic Manipulation
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Author : Richard M. Murray
language : en
Publisher: CRC Press
Release Date : 2017-12-14
A Mathematical Introduction To Robotic Manipulation written by Richard M. Murray and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-14 with Technology & Engineering categories.
A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.