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Dynamics of Robots with Contact Tasks : Intelligent Systems, Control and Automation: Science and Engineering - M. Vukobratovic

Dynamics of Robots with Contact Tasks

Intelligent Systems, Control and Automation: Science and Engineering

Hardcover Published: 30th November 2003
ISBN: 9781402018091
Number Of Pages: 248

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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.

Preface
Acknowledgments
Robot Dynamics Problems, Research, and Resultsp. 1
Free Motion of a Rigid-Body Robot Armp. 11
Rigid-Body Contact of a Robot with Its Environmentp. 49
Soft and Elastodynamic Contactsp. 79
Robot Interacting with Complex Dynamic Environmentp. 137
Dynamics of Multi-Arm Cooperative Robots with Elastic Contactsp. 175
New Trends in Contact Tasksp. 207
App. 1: Hybrid Position/Force Controlp. 225
App. 2: Synthesis of Control Laws for the Robot Interacting With Dynamic Environmentp. 235
Indexp. 247
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9781402018091
ISBN-10: 1402018096
Series: Intelligent Systems, Control and Automation: Science and Engineering
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 248
Published: 30th November 2003
Publisher: Springer-Verlag New York Inc.
Country of Publication: US
Dimensions (cm): 23.5 x 15.5  x 1.91
Weight (kg): 0.61