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General Principles of Control Synthesis of Robots and Manipulators

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Control of Manipulation Robots

Part of the book series: Communications and Control Engineering Series ((1186,volume 2))

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Abstract

Robots and manipulators belong to the class of nonlinear, multivariable mechanical systems with several inputs and outputs. If considered to have no environmental effects (or known, determined environmental effects), they represent a deterministic, dynamic system which often has a variable structure. As regards mechanical characteristics, robots and manipulators belong to the class of large-scale spatial mechanisms and to the type of open and closed active kinematic chains, since certain degrees of freedom are powered by appropriate actuators.

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  1. Institute »Mihailo Pupin«, Volgina 15, POB 15, Beograd, Yugoslavia

    D. Sc., Ph. D. Miomir Vukobratović (corr. member of Serbian Academy of Sciences and Arts) & Ph. D. Dragan Stokić

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  1. D. Sc., Ph. D. Miomir Vukobratović
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  2. Ph. D. Dragan Stokić
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© 1982 Springer-Verlag Berlin, Heidelberg

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Vukobratović, M., Stokić, D. (1982). General Principles of Control Synthesis of Robots and Manipulators. In: Control of Manipulation Robots. Communications and Control Engineering Series, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-81857-8_1

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  • DOI: https://doi.org/10.1007/978-3-642-81857-8_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-81859-2

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