## Control of manipulation robots: theory and applicationComplete mathematical models of the dynamics of open active mechanisms as applied to robotics are treated & presented. |

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### Contents

General Principles of Control Synthesis of Robots and Manipulators l | 1 |

Principles of robot control synthesis | 26 |

References | 67 |

Copyright | |

5 other sections not shown

### Other editions - View all

Dynamics of Manipulation Robots: Theory and Application M. Vukobratovic,V. Potkonjak Limited preview - 2012 |

Control of Manipulation Robots: Theory and Application M. Vukobratovic,D. Stokic Limited preview - 2012 |

### Common terms and phrases

accelerations actuators algorithm analysis angular velocities applied asymptotic stability biped chosen considered constraints contact point control laws control synthesis coupling among subsystems criterion decentralized control decoupled control defined degrees of freedom determined deviation discrete regulator driving torques Dynamic Systems ensure equations estimation exponential stability feedback with respect force feedback given global control global system gripper hole i-th inertial forces initial conditions input joint kinematic chain kinematic pair Liapunov functions linear regulator linearized model manipulation system manipulation tasks manipulator dynamics manipulator tip mathematical model matrix mechanical systems microprocessors minimal configuration motion nominal control nominal dynamics nominal trajectories nonlinear object observer output parameters performed perturbed dynamics practical stability presented in Fig problem procedure programmed control reaction forces realized region region X robots and manipulators satisfied simulation stage of perturbed suboptimality system model system stability tion tracking transfer trol vector VieI Viel VteT Vukobratovid K.M.