Dynamics of Robots With Contact Tasks

Vukobratovic, M.; Potkonjak, V.; Matijevic, V.

ISBN 10: 9048165156 / ISBN 13: 9789048165155

Editore: Springer, 2010

Unread book in perfect condition. Codice articolo 11870702

Riassunto:

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.

Contenuti: 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.

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Titolo: Dynamics of Robots With Contact Tasks
Casa editrice: Springer
Data di pubblicazione: 2010
Legatura: Brossura
Condizione: As New