Dynamics of Robots with Contact Tasks
By: by Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic
Contributors: Potkonjak, Veljko; Matijevic, Vladimir
Series: International Series on Microprocessor-Based and Intelligent Systems Engineering -- 26; International Series on Microprocessor-Based and Intelligent Systems Engineering -- 26
Publisher: Springer Netherlands
Published: 2003
Place of publication: Dordrecht
Language: eng
Format: [electronic resource] /
Number of pages: 248
ISBN-13: 9789048165155; 9789401703970
Subjects: Engineering; Computer engineering; Mechanical engineering; Vibration
Description: 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.
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