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Control of Manipulation Robots pp 167–360Cite as

Control Synthesis for Typical Manipulation Tasks

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

Abstract

This chapter presents a few examples of manipulator control synthesis for some typical tasks frequently encountered in industrial practice. The control synthesis performed is based on the ideas of and procedures for the control synthesis presented in ch. 2. In this synthesis the manipulator mathematical model is used, the construction of which on a digital computer was presented in detail in ch. 1. We present the results of the control synthesis of a few concrete manipulation tasks.

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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). Control Synthesis for Typical Manipulation Tasks. 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_4

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  • DOI: https://doi.org/10.1007/978-3-642-81857-8_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-81859-2

  • Online ISBN: 978-3-642-81857-8

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