Advanced robot control
Akadémiai Kiadó, 1997 - Technology & Engineering - 425 pages
The science of modern robotics has a history no longer than 50 years. The basic results of control of these devices emerged in the last 20 years. The authors of the present book summarize, in original manner, the most important results and add some new contributions. Among others: robot kinematics, trajectory planning, dynamics and control problems are discussed in detail. The new results are in the fields of original treatment of some kinematic and dynamic problems, time-optimal trajectory planning, model reference adaptive control, robot dynamics, model identification and self-tuning adaptive control, robotized manufacturing optimization and some others.
In the introductory part the authors explain the problems and solutions in the most popular form using simple examples. In later chapters deeper discussions follow, including all the details of these problems. The book is intended for students, engineers and researchers in the field of robotics, information theory, mechatronics and manufacturing automation. Because robotics is now being applied to services, health care, medicine, housekeeping, transport, administration and many other fields, the authors hope that the book twill contribute to further progress in the field.
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STATIC FORCE AND TORQUE RELATIONS
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