Dynamics of Robots with Contact Tasks

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

Buch | Softcover

248 Seiten

2010 | Softcover reprint of the original 1st ed. 2003
Springer (Verlag)
978-90-481-6515-5 (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.

Reihe/Serie	Intelligent Systems, Control and Automation: Science and Engineering ; 26
Zusatzinfo	XV, 248 p.
Verlagsort	Dordrecht
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Naturwissenschaften ► Biologie
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
ISBN-10	90-481-6515-6 / 9048165156
ISBN-13	978-90-481-6515-5 / 9789048165155
Zustand	Neuware