Dynamics of Robots with Contact Tasks

2003
ISBN: 978-90-481-6515-5
Verlag: Springer Netherlands

Buch, Englisch, 248 Seiten, Previously published in hardcover, Format (B × H): 160 mm x 240 mm, Gewicht: 434 g

Reihe: Intelligent Systems, Control and Automation: Science and Engineering

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.

Zielgruppe

Research

Autoren/Hrsg.

Vukobratovic, M.

Matijevic, V.

Potkonjak, V.

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Mikroprozessoren
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Naturwissenschaften Biowissenschaften Biowissenschaften Bioethik, Tierethik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Geisteswissenschaften Philosophie Angewandte Ethik & Soziale Verantwortung Bioethik, Tierethik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

1. Robot Dynamics Problems, Research, and Results.- 2. Free Motion of a Rigid-Body Robot ARM.- 3. Rigid-Body Contact of a Robot with Its Environment.- 4. Soft and Elastodynamic Contacts.- 5. Robot Interacting with Complex Dynamic Environment.- 6. Dynamics of Multi-ARM Cooperative Robots with Elastic Contacts.- 7. New Trends in Contact Tasks.- 8. Appendix 1.- 9. Appendix 2.