Dynamics of Robots with Contact Tasks

  • Miomir Vukobratovic
  • Veljko Potkonjak
  • Vladimir Matijevic

Table of contents

  1. Front Matter
    Pages i-xv
  2. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 1-9
  3. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 11-47
  4. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 49-78
  5. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 79-136
  6. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 137-173
  7. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 175-206
  8. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 207-223
  9. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 225-234
  10. Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
    Pages 235-246
  11. Back Matter
    Pages 247-248

About this book

Introduction

As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues.
The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.

Keywords

automation complexity control engineering development modeling robot robotics

Authors and affiliations

  • Miomir Vukobratovic
    • 1
  • Veljko Potkonjak
    • 2
  • Vladimir Matijevic
    • 1
  1. 1.Robotics LaboratoryMihailo Pupin InstituteBelgradeSerbia & Montenegro
  2. 2.Faculty of Electrical EngineeringUniversity of BelgradeBelgradeSerbia & Montenegro

Bibliographic information

  • DOI https://doi.org/10.1007/978-94-017-0397-0
  • Copyright Information Springer Science+Business Media B.V. 2003
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-90-481-6515-5
  • Online ISBN 978-94-017-0397-0
  • Series Print ISSN 2213-8986
  • Series Online ISSN 2213-8994
  • About this book
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