Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics.
Trajectory Planning and Control of Industrial Robot Manipulators.Īuthor by: Hubert Gattringer Language: en Publisher by: Springer Science & Business Media Format Available: PDF, ePub, Mobi Total Read: 17 Total Download: 900 File Size: 52,8 Mb Description: The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. transformations (Mittal & Nagrath, 2003) can be used in representing. Does this product have an incorrect or missing image? Please enter recipient e-mail address es. You may send this item to up to five recipients. Includes over 50 solved examples and more than 270 simple-to-complex end-of-chapter exercises.Robotics and control / R.K.
Trajectory Planning is developed using both joint space and Cartesian space methods.ĭynamic Modeling is treated by Lagrange-Euler and Euler-Newton formulations complex derivations are put in the appendix to ensure a smooth flow for the reader.Ī comprehensive chapter on Robotic Control covering control strategies like PD, PID, computed torque control, force and impedance control at an appropriate level.Ī METLAB tutorial on using the package for Robotics is included as an appendix.Ī full chapter on the industrial applications of robots.Īll important industrial robot configurations with varying degrees of freedom are covered in various chapters and solved examples.Īn elaborate chapter (Chapter 9) devoted to Robotic Sensors and Vision. The book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators.ĭetailed chapter on Velocity Transformations, jacobian and Singularities.
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