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Titlebook: Kinematics and Trajectory Synthesis of Manipulation Robots; Miomir Vukobratović,Manja Kirćanski Book 1986 Springer-Verlag, Berlin, Heidelb

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书目名称Kinematics and Trajectory Synthesis of Manipulation Robots
编辑Miomir Vukobratović,Manja Kirćanski
视频videohttp://file.papertrans.cn/544/543027/543027.mp4
丛书名称Communications and Control Engineering
图书封面Titlebook: Kinematics and Trajectory Synthesis of Manipulation Robots;  Miomir Vukobratović,Manja Kirćanski Book 1986 Springer-Verlag, Berlin, Heidelb
描述A few words about the series "Scientific Fundamentals of Robotics" should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con­ trol for manipulation ~obots. The authors‘ idea was to show how to use correct mathematical models of the dynamics of active spatial mecha­ nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors‘ oppinion this idea has been relatively successfully realized within the six-volume mono­ graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro­ bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms‘ dynamics.
出版日期Book 1986
关键词Robots; actuator; algorithms; control; control algorithm; kinematics; robot; robotics; Engineering Economics
版次1
doihttps://doi.org/10.1007/978-3-642-82195-0
isbn_softcover978-3-642-82197-4
isbn_ebook978-3-642-82195-0Series ISSN 0178-5354 Series E-ISSN 2197-7119
issn_series 0178-5354
copyrightSpringer-Verlag, Berlin, Heidelberg 1986
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Kinematic Approach to Motion Generation,Having solved the direct and the inverse kinematic problem, the primary problem arising in robot control is manipulator motion generation. Methods of specifying manipulator motion, i.e. the description of a concrete manipulation task, significantly affects manipulator flexibility and its usefulness in various industrial applications.
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Dynamic Approach to Motion Generation,Various methods for robot motion generation, based on the kinematic model of the manipulator, have been presented in the previous chapter. The problem of distributing motion to individual degrees of freedom is thus resolved. Kinematical constraints on maximal joint coordinates, velocity and acceleration are taken into account.
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Communications and Control Engineeringhttp://image.papertrans.cn/k/image/543027.jpg
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Computer-aided Generation of Kinematic Equations in Symbolic Form,bolic Jacobian matrix. However, this tiresome process is subjected to human errors. Besides, once the symbolic equations have been obtained, a computer program must be written to compute these kinematic variables optimally, i.e. with the minimal number of multiplications and additions. In this chapt
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