By Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic (auth.)
As robots have gotten a growing number of refined the curiosity in robotic dynamics is expanding. inside this box, touch difficulties are one of the finest, given that contacts are found in virtually any robotic job and introduce severe complexity to method dynamics, strongly influencing robotic habit. The publication formulates dynamic types of robotic interplay with other kinds of surroundings, from natural geometrical constraints to complicated dynamic environments. It offers a couple of examples. Dynamic modeling is the first curiosity of the e-book yet keep watch over matters are handled besides. simply because dynamics and make contact with keep an eye on initiatives are strongly comparable the authors additionally offer a short description of suitable keep watch over concerns.
The ebook might be of curiosity to engineers operating in examine and improvement in robotics and automation and to either graduate and postgraduate scholars. The paintings can be beneficial to readers desirous about production, robotics, automation, machine and keep an eye on engineering.
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Extra info for Dynamics of Robots with Contact Tasks
2: Control of Manipulation Robots, Springer-Verlag, 1982. 7. M. Vukobratovic, Applied Dynamics of Manipulation Robots: Modeling, Analysis and Examples, Springer-Verlag, 1989. 8. V. Potkonjak, "Contribution to the Dynamics and Control of Robots Having Elastic Transmissions", Robotica, Vol. 6, pp. 63-69, 1988. 9. N. Kircanski, A. Timchenko, M. Vnkobratovic, "Position Control of Robot Manipulators with Elastic Joints Using Force Feedback", Journal of Robotic Systems, Vol. 7, pp. 535545,1990. Chapter 3 RIGID-BODY CONTACT OF A ROBOT WITH ITS ENVIRONMENT In this chapter we discuss the contact tasks in which the robot environment is considered as a geometric constraint imposed to the motion of the end-effector.
REFERENCES 1. Yu. Stepanenko, "Method of Analysis of Spatial Lever Mechanisms", (in Russian), Mekhanika Mashin, Vol. 23, Moscow, 1970. 2. M. Vukobratovic, Yu. Stepanenko, "Mathematical Models of General Anthropo-morphic Systems", Math. Biosciences, Vol. 17, pp. 191-242, 1973. 3. J. Denavit, R. S. Hartenberg, "A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices", J. Applied Mechanics, pp. 215-221, June 1955. 4. M. Vukobratovic, V. Potkonjak, Scientific Fundamentals of Robotics, Vol.
9) l . J-I'i The matrix A consists of three columns. They represent unit vectors of the frame j expressed with respect to the frame j-1. Let us denote these columns by V~I ' V~2 and V~3' that is A° j ·-1 ,j. = [V °·1 V °·2 V·30] . 10) -j We now rotate the joint by the angle qj (Fig. 9b) and search for the change in the transformation matrix. Let the new matrix be A j_l,j • In order to calculate the new matrix, it is necessary to rotate each of the unit vectors -0 V jk ' k=1,2,3 for the angle Rodrigue's formulae qj about the axis e j .
Dynamics of Robots with Contact Tasks by Miomir Vukobratovic, Veljko Potkonjak, Vladimir Matijevic (auth.)