Dynamics of Manipulation Robots

1. Front Matter

   Pages I-XIII

   PDF

2. General Remarks about Robot and Manipulator Dynamics

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 1-25

3. Computer-Aided Methods for Setting and Solving Mathematical Models of Active Mechanisms in Robotics

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 26-149

4. Simulation of Manipulator Dynamics and Adjusting to Functional Movements

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 150-218

5. Dynamics of Manipulators with Elastic Segments

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 219-251

6. Dynamical Method for the Evaluation and Choice of Industrial Manipulators

   • Miomir Vukobratović, Veljko Potkonjak

   Pages 252-299

7. Back Matter

   Pages 300-306

   PDF

This monograph represents the first book of the series entitled "SCI­ ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap­ proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de­ sign of manipulation mechanisms with some optimal performances. The rapid development of a new class of mechanisms, which may be referred to as active mechanisms, contributed to their application in various environments (from underwater to cosmic) . Because of some specific fea­ tures, these mechanisms require very careful description, both in a mechanical sense (kinematic and dynamic) and in the synthesis of algo­ rithms for precise tracking of the above motion under insufficiently defined operating conditions. Having also in mind the need for a very fast (even real-time) calculation of system dynamics and for eliminating, in principle, the errors made when forming mathematical models "by hand" this monograph will primarily present methods for automatic for­ mUlation of dynamic equations of motion of active spatial mechanisms. Apart from these computer-oriented methods, mention will be made of all those methods which have preceded the computer-oriented procedures, predominantly developed for different problems of rigid body dynamics. If we wish to systematically establish the origins of the scientific discipline, which could be called robot dynamics, we must recall some groups and individuals, who, by solving actual problems in the synthe­ sis and control of artificial motion, have contributed to a gradual formation of this discipline.

• Dynamics
• Industrieroboter
• Manipulator
• Rechnerunterstützte Konstruktion
• Robots
• Tracking
• control
• robot
• robotics
• Engineering Economics

• Institute »Mihailo Pupin«, Beograd, Yugoslavia

  Miomir Vukobratović

• Electrical Engineering Faculty of Belgrade University, Yugoslavia

  Veljko Potkonjak

Policies and ethics