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Control of Manipulation Robots pp 69–166Cite as

Synthesis of Manipulation Control

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

Abstract

In this chapter we present the theoretical basis of the control synthesis of complex mechanical systems, such as robots and manipulators. As we have said, we shall treat only the problem of the control synthesis of the realization of prescribed mechanism motion, i.e., we treat the two lowest hierarchical levels of robot and manipulator control under the supposition that, at the higher control levels, the task (the motion to be realized by the robot) has been defined. In this chapter systems of robots and manipulators will be considered without the action of external forces, so that the system behaves as an open kinematic chain.

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Authors and Affiliations

  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). Synthesis of Manipulation Control. 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_3

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  • DOI: https://doi.org/10.1007/978-3-642-81857-8_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-81859-2

  • Online ISBN: 978-3-642-81857-8

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