Applied Dynamics of Manipulation Robots Modelling, Analysis and Examples
During the period 1982-1985, six books of the series: Scientific Fun damentals of Robotics were published by Springer-Verlag. In chronolo gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra tovic and V. Potkonjak, Control of Manipulation Robots: Theory a...
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| Format: | eBook |
| Language: | English |
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Berlin, Heidelberg
Springer Berlin Heidelberg
1989, 1989
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| Edition: | 1st ed. 1989 |
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| Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 1 General About Robots
- 1.1. Dedication and classification of robotic systems
- 1.2. General features of robotic mechanisms and its classification
- 1 3 Specifities of manipulation robots
- References
- 2 Computer Forming of Mathematical Model of Manipulation Robots Dynamics
- 2.1. General about computer-oriented procedures for forming of mathematical models of robot dynamics
- 2.2. Complete mathematical models of manipulation robots
- 2.3. Influence of mechanical vibrations on dynamic behaviour of manipulation robots
- 2.4. Dynamics of manipulation robots with gripper constrained motion
- 2.5. Dynamic analysis of manipulation robots
- 2.6. Dynamics of flexible manipulation robots
- 2.7. Dynamics of cooperative manipulation
- References
- 3 Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models
- 3.1. Introduction
- 3.2. Method of computer linearization of dynamic models based on general theorems of mechanics
- Source file for the computation of “ASEA” mechanism driving torques
- Appendix 9 Programme Support for Dynamics Modelling of Manipulation Robots
- 3.3. Sensitivity analysis of manipulation robots dynamic models
- References
- Appendix 1 Connection Between the Moving and Fixed System
- References
- Appendix 2 Manipulator Kinematical Model
- Examples
- References
- Appendix 3 Determining Velocities and Accelerations
- References
- Appendix 4 Momentum of Rigid Body with Respect to a Fixed Pole
- References
- Appendix 5 Specifities of Lever-Mechanisms Dynamics
- Appendix 6 Mathematical Models of Driving Units
- Permanent-magnet DC servomotor
- AC servomotor
- Synchronous motors with permanent magnet rotor (SM)
- Direct-drive motor
- Brushless DC servomotors
- Electrohydraulic actuators
- Electropneumatic actuators
- References
- Appendix 7 Automatic Forming of Dynamic Models
- Example 1: “Cylindrical” Mechanism (Basic Configuration)
- Example 2: “Stanford”Manipulator (Basic Configuration)
- Appendix 8 Dynamics of “ASEA” Mechanism (Basic Configuration)
- Kinematics
- Dynamics