Dynamics of Robots with Contact Tasks

M. Vukobratovic, V. Potkonjak, V. Matijevic (Autoren)

Buch | Hardcover

248 Seiten

2003 | 2003 ed.
Kluwer Academic Publishers (Verlag)
978-1-4020-1809-1 (ISBN)

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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.

1. Robot Dynamics Problems, Research, and Results.- 2. Free Motion of a Rigid-Body Robot ARM.- 3. Rigid-Body Contact of a Robot with Its Environment.- 4. Soft and Elastodynamic Contacts.- 5. Robot Interacting with Complex Dynamic Environment.- 6. Dynamics of Multi-ARM Cooperative Robots with Elastic Contacts.- 7. New Trends in Contact Tasks.- 8. Appendix 1.- 9. Appendix 2.

Erscheint lt. Verlag	30.11.2003
Reihe/Serie	Intelligent Systems, Control and Automation: Science and Engineering ; 26
Zusatzinfo	XV, 248 p.
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Naturwissenschaften ► Biologie
	Technik ► Maschinenbau
ISBN-10	1-4020-1809-6 / 1402018096
ISBN-13	978-1-4020-1809-1 / 9781402018091
Zustand	Neuware