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Über dieses Buch

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.

Inhaltsverzeichnis

Frontmatter

General Principles of Control Synthesis of Robots and Manipulators

Abstract
Robots and manipulators belong to the class of nonlinear, multivariable mechanical systems with several inputs and outputs. If considered to have no environmental effects (or known, determined environmental effects), they represent a deterministic, dynamic system which often has a variable structure. As regards mechanical characteristics, robots and manipulators belong to the class of large-scale spatial mechanisms and to the type of open and closed active kinematic chains, since certain degrees of freedom are powered by appropriate actuators.
Miomir Vukobratović, Dragan Stokić

Chapter 1. Dynamics of Manipulators

Abstract
The reason for writing this chapter on dynamics of manipulators lies in the author’s idea that this book should be autonomous in regard to the problems of setting the mathematical models of dynamics of manipulators and active mechanisms in general. Dynamics of manipulators and active spatial mechanisms has been presented in detail in [1].
Miomir Vukobratović, Dragan Stokić

Chapter 2. Synthesis of Manipulation Control

Abstract
In this chapter we present the theoretical basis of the control synthesis of complex mechanical systems, such as robots and manipulators. As we have said, we shall treat only the problem of the control synthesis of the realization of prescribed mechanism motion, i.e., we treat the two lowest hierarchical levels of robot and manipulator control under the supposition that, at the higher control levels, the task (the motion to be realized by the robot) has been defined. In this chapter systems of robots and manipulators will be considered without the action of external forces, so that the system behaves as an open kinematic chain.
Miomir Vukobratović, Dragan Stokić

Chapter 3. Control Synthesis for Typical Manipulation Tasks

Abstract
This chapter presents a few examples of manipulator control synthesis for some typical tasks frequently encountered in industrial practice. The control synthesis performed is based on the ideas of and procedures for the control synthesis presented in ch. 2. In this synthesis the manipulator mathematical model is used, the construction of which on a digital computer was presented in detail in ch. 1. We present the results of the control synthesis of a few concrete manipulation tasks.
Miomir Vukobratović, Dragan Stokić

Backmatter

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