Kinematics and Trajectory Synthesis of Manipulation Robots

Kinematics and Trajectory Synthesis of Manipulation Robots

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A few words about the series qScientific Fundamentals of Roboticsq should be said on the occasion of publication of the present monograph. This six-volume series has been conceived so as to allow the readers to master a contemporary approach to the construction and synthesis of con trol for manipulation ~obots. The authors' idea was to show how to use correct mathematical models of the dynamics of active spatial mecha nisms for dynamic analysis of robotic systems, optimal design of their mechanical parts based on the accepted criteria and imposed constraints, optimal choice of actuators, synthesis of dynamic control algorithms and their microcomputer implementation. In authors' oppinion this idea has been relatively successfully realized within the six-volume mono graphic series. Let us remind the readers of the books of this series. Volumes 1 and 2 are devoted to the dynamics and control algorithms of manipulation ro bots, respectively. They form the first part of the series which has a certain topic-related autonomy in the domain of the construction and application of the mathematical models of robotic mechanisms' dynamics.The execution times measured on minicomputer PDP 11/70 and a microcomputer based on microprocessor INTEL 8086 with numerical coprocessor 8087, will be given. 2.5.1. Block-diagram of the program for the symbolic model generationanbsp;...

Title:Kinematics and Trajectory Synthesis of Manipulation Robots
Author:M. Vukobratovic, M. Kircanski
Publisher:Springer Science & Business Media - 2013-12-11


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