Ebook: Control of Manipulation Robots: Theory and Application
- Tags: Communications Engineering Networks, Control Robotics Mechatronics, Engineering Economics Organization Logistics Marketing
- Series: Communications and Control Engineering Series 2
- Year: 1982
- Publisher: Springer-Verlag Berlin Heidelberg
- Edition: 1
- Language: English
- pdf
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.
Content:
Front Matter....Pages I-XIII
General Principles of Control Synthesis of Robots and Manipulators....Pages 1-30
Dynamics of Manipulators....Pages 31-68
Synthesis of Manipulation Control....Pages 69-166
Control Synthesis for Typical Manipulation Tasks....Pages 167-360
Back Matter....Pages 361-363
Content:
Front Matter....Pages I-XIII
General Principles of Control Synthesis of Robots and Manipulators....Pages 1-30
Dynamics of Manipulators....Pages 31-68
Synthesis of Manipulation Control....Pages 69-166
Control Synthesis for Typical Manipulation Tasks....Pages 167-360
Back Matter....Pages 361-363
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