Miomir Vukobratovic

Introduction to Robotics

Mitarbeit: Djurovic, Milan; Hristic, Dragan; Karan, Branko; Kircanski, Manja; Kircanski, Nenad

• Broschiertes Buch

Produktbeschreibung

to Robotics In collaboration with Milan Djurovic, Dragan Hristic, Branko Karan, Manja Kireanski, N enad Kireanski, Dragan Stokic, Dragoljub Vujic, Vesna Zivkovic With 228 Figures Springer-Verlag Berlin Heidelberg New York London Paris Tokyo 1989 .. Miomir Vukobratovic, Ph. D., D. Sc. Milan Djurovic B. Sc. Dragan Hristic Ph.D. Branko Karan B. Sc. Manja Kircanski Ph.D. Nenad Kireanski Ph.D. Dragan Stokic Ph.D. Dragoljub Vujic Ph.D. Vesna Zivkovic Ph.D. Institute Mibajlo Pupin YU-llOOO Beograd Based on the original Uvod u Robotiku published by Institute Mibajlo Pupin, Beograd, Yugoslavia, 1986. ISBN -13: 978-3-642-82999-4 e-ISBN -13: 978-3-642-82997-0 DOl: 10.1007/978-3-642-82997-0 Library of Congress Cataloging-in-Publication Data Vukobratovic, Miomir. Introduction to robotics. Translation of: Uvod u robotiku. Includes index. 1. Robotics. 1. Title. TJ211.V86131988 629.8'92 88-10307 ISBN-i3:978-3-642-82999-4 (U.S.) This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustration, recitation, broadcasting, reproduction on microfilms or in other ways. and storage in data banks. Duplication of this publication or parts thereof is only permitted under the provisions of the German Copyright Law of September 9,1965, in its version of June 24, 1985, and a copyright fee must always be paid. Violations fall under the prosecution act of the German Copyright Law.

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Produktdetails

• Verlag: Springer / Springer Berlin Heidelberg / Springer, Berlin
• Artikelnr. des Verlages: 978-3-642-82999-4
• Softcover reprint of the original 1st ed. 1989
• Seitenzahl: 320
• Erscheinungstermin: 15. Dezember 2011
• Englisch
• Abmessung: 235mm x 155mm x 18mm
• Gewicht: 486g
• ISBN-13: 9783642829994
• ISBN-10: 3642829996
• Artikelnr.: 36119145

Inhaltsangabe

1 General Introduction to Robots.- 1.1 Dedication and Classification of Robotic Systems.- 1.2 General Features of Robotic Mechanisms and their Classification.- References.- 2 Manipulator Kinematic Model.- 2.1 Introduction.- 2.2 Definitions.- 2.3 Direct Kinematic Problem.- 2.4 Inverse Kinematic Problem.- 2.5 Manipulator Path Generation.- 2.6 Conclusion.- References.- 3 Dynamics and Dynamic Analysis of Manipulation Robots.- 3.1 Introduction.- 3.2 Mathematical Model of Manipulation Robot Dynamics.- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact.- 3.4 Dynamics of Robots Under Action of External Reaction Forces.- References.- 4 Control of Robots.- 4.1 Hierarchical Control of Robots.- 4.2 Control of a Single Joint of a Robot.- 4.3 Control of Simultaneous Motion of Several Robot Joints.- 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots.- 4.5 Control of Robots in Assembly Tasks.- References.- 5 Microprocessor Implementation of Control Algorithms.- 5.1 Introduction.- 5.2 Basic Subsystems of Modern Robot Controllers.- 5.3 Program Modules.- 5.4 Conclusion.- References.- 6 Industrial Robot Programming Systems.- 6.1 Introduction.- 6.2 Describing the Motion.- 6.3 Sensory Data Processing.- 6.4 Synchronization.- 6.5 Implementations of Robot Programming Systems.- 6.6 Robot Programming Examples.- 6.7 Additional Reading.- References.- 7 Sensors in Robotics.- 7.1 Positional Sensors.- 7.2 Environment Sensors.- 7.3 Robot Vision.- References.- 8 Elements, Structures and Application of Industrial Robots.- 8.1 Basic Postulates of Industrial Robot Design.- 8.2 Design Solutions of Main Robot Sub-assemblies.- 8.3 Examples of Industrial Robot Applications.- References.- 9 Robotics and Flexible Automation Systems.- 9.1 Introduction.- 9.2 Functional Structure of Flexible Automation Systems.- 9.3 Control of Flexible Automation Systems.- 9.4. Hardware and Software Requirements for FAS.- References.- Appendix A.9 Coloured Petri Nets.- A.9.1 General Notions on Petri Nets.- A.9.2 Execution Rules of Petri Nets.- A.9.3 Non-primitive Coloured Petri Nets.- A.9.4 Normalized Coloured Petri Nets.- References.