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Applied Control of Manipulation Robots

Analysis, Synthesis and Exercises

  • Textbook
  • © 1989

Overview

Authors:
  1. Miomir Vukobratović
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  2. Dragan Stokić

    1. Institute Mihailo Pupin, Beograd, Yugoslavia

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    You can also search for this author in PubMed   Google Scholar

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Table of contents (7 chapters)

  1. Front Matter

    Pages I-XVI
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  2. Concepts of Manipulation Robot Control

    • Miomir Vukobratović, Dragan Stokić
    Pages 1-26

  3. Kinematic Control Level

    • Miomir Vukobratović, Dragan Stokić
    Pages 27-51

  4. Synthesis of Servo Systems for Robot Control

    • Miomir Vukobratović, Dragan Stokić
    Pages 52-151

  5. Control of Simultaneous Motions of Robot Joints

    • Miomir Vukobratović, Dragan Stokić
    Pages 152-232

  6. Synthesis of Robot Dynamic Control

    • Miomir Vukobratović, Dragan Stokić
    Pages 233-294

  7. Variable Parameters and Concept of Adaptive Robot Control

    • Miomir Vukobratović, Dragan Stokić
    Pages 295-313

  8. Control of Constrained Motion of Robot

    • Miomir Vukobratović, Dragan Stokić
    Pages 314-467

  9. Back Matter

    Pages 468-472
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About this book

The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn­ thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti­ on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai­ ned from sensors. The robot control is closely related to the robot pro­ gramming (i. e. the development of highly-specialized programming lan­ guages for robot programming). Besides, numerous aspects of the con­ trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text­ book.

Authors and Affiliations

  • Institute Mihailo Pupin, Beograd, Yugoslavia

    Dragan Stokić

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