Titlebook: Dynamics of Robots with Contact Tasks; Miomir Vukobratovic,Veljko Potkonjak,Vladimir Mati Book 2003 Springer Science+Business Media Dordre

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The World Economic Forum Water Initiativerative work are presented, together with the solution of the indefiniteness problem with respect to force distribution. The obtained model is presented in several convenient forms. For the first time, a system of active spatial six-DOF mechanisms elastically interconnected with the object (dynamic e

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The World Economic Forum Water Initiatived-effector to establish physical contact with the environment and exert a process-specific force. In general, these tasks require both the position of the end-effector and the interaction force to be controlled simultaneously. A typical example of such tasks is machining processes such as grinding,

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Dynamics of Robots with Contact Tasks978-94-017-0397-0Series ISSN 2213-8986 Series E-ISSN 2213-8994

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The World Economic Forum Water InitiativeIn this chapter we discuss the contact tasks in which the robot environment is considered as a geometric constraint imposed to the motion of the end-effector. The first general approach to this problem was presented in [1].

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Rigid-Body Contact of a Robot with Its Environment,In this chapter we discuss the contact tasks in which the robot environment is considered as a geometric constraint imposed to the motion of the end-effector. The first general approach to this problem was presented in [1].

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Soft and Elastodynamic Contacts,In the previous chapter we discussed the contact of the robot arm and its environment by imposing geometrical constraint to the motion of the endeffector. This approach is justified under the following assumptions:

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