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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Main Author: Vukobratovic, Miomir
Corporate Author: SpringerLink (Online service)
Format: eBook
Published: Berlin, Heidelberg Springer Berlin Heidelberg 1989, 1989
Edition:1st ed. 1989
Online Access:
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
  • “Cylindrical” Mechanism (Basic Configuration)
  • Example 2: “Stanford” Manipulator (Basic Configuration)
  • Appendix 8 Dynamics of “ASEA” Mechanism (Basic Configuration)
  • Kinematics
  • Dynamics