Kinematics and Trajectory Synthesis of Manipulation Robots

  • Miomir Vukobratović
  • Manja Kirćanski

Part of the Communications and Control Engineering Series book series (CCE, volume 3)

Table of contents

  1. Front Matter
    Pages I-X
  2. Miomir Vukobratović, Manja Kirćanski
    Pages 1-52
  3. Miomir Vukobratović, Manja Kirćanski
    Pages 53-137
  4. Miomir Vukobratović, Manja Kirćanski
    Pages 138-155
  5. Miomir Vukobratović, Manja Kirćanski
    Pages 156-171
  6. Miomir Vukobratović, Manja Kirćanski
    Pages 172-213
  7. Miomir Vukobratović, Manja Kirćanski
    Pages 214-258
  8. Back Matter
    Pages 258-267

About this book


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.


Robots actuator algorithms control control algorithm kinematics robot robotics

Authors and affiliations

  • Miomir Vukobratović
    • 1
  • Manja Kirćanski
    • 1
  1. 1.Serbian Academy of Sciences and Arts Institute »Mihailo Pupin«BelgradeYugoslavia

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 1986
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-82197-4
  • Online ISBN 978-3-642-82195-0
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site
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