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" Real-Time Dynamics of Manipulation Robots "
by Miomir Vukobratović, Nenad Kirćanski.
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BL
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| Record Number
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729293
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b549047
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| Main Entry
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by Miomir Vukobratović, Nenad Kirćanski.
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| Title & Author
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Real-Time Dynamics of Manipulation Robots\ by Miomir Vukobratović, Nenad Kirćanski.
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| Publication Statement
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Berlin, Heidelberg: Springer Berlin Heidelberg, 1985
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| Series Statement
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Communications and Control Engineering Series, Scientific Fundamentals of Robotics, 4.
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| ISBN
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3642821987
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: 3642822002
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: 9783642821981
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: 9783642822001
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| Contents
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1 Survey of computer-aided robot modelling methods --;1.1. Introduction --;1.2. Methods based on Lagrange's equation --;1.3. Methods based on Newton-Euler's equations --;1.4. Methods based on Appel's equations --;1.5. Symbolic methods --;1.6. Numeric-symbolic method --;2 Computer-aided method for closed-form dynamic robot model construction --;2.1. Introduction --;2.2. Model based on Newton-Euler's equations --;2.3. Closed-form dynamic model --;2.4. Properties of dynamic model matrices: symmetry, positive definiteness and antisymmetry --;2.5. Closed-form linearized model --;2.6. Closed-form sensitivity model --;Appendix 2.1 --;Appendix 2.2 --;3 Computer-aided generation of numeric-symbolic robot model --;3.1. Introduction --;3.2. Numeric-symbolic representation of variables --;3.3. Algebra of polynomial matrices --;3.4. Optimization of polynomial matrices --;3.5. Nonlinear model --;3.6. Linearized and sensitivity model --;3.7. Approximate models --;Appendix 3.1 --;4 Model optimization and real-time program-code generation --;4.1. Introduction --;4.2. Optimal computation of polynomial matrices --;4.3. Real-time program-code generation --;Appendix 4.1 --;5 Examples --;5.1. Introduction --;5.2. A cylindrical robot --;5.3. An arthropoid robot --;5.4. An anthropomorphic robot --;5.5. Microcomputer implementation of analytical robot models --;time-memory requirements --;Appendix 5.1 --;References.
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| Abstract
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In contrast to the first two books, where recursive computer-aided me- thods for setting robot dynamic equations where described, this mono- graph presents a new approach to the formation of robot dynamics.
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| Subject
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Artificial intelligence.
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Computer science.
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Computer-aided design.
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| Added Entry
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Miomir Vukobratović
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Nenad Kirćanski
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