Bøger af M. Vukobratovic

This book is a logical continuation of Volume 1 of the series entitled "Scientific Fundamentals of Robotics" which presents all of the basic methods for computerized construction of dynamics of manipulation ro bots as well as the essential concepts of computer-aided design of their mechanics.

The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots.

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.

The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulation mechanisms with some optimal performances.

The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears.

On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems.

As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior.

On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems.

The starting point in dealing with the above three tasks of cooperative manipulation was the assumption that the problem of force uncertainty in cooperative manipulation can be resolved by introducing elastic properties into the cooperative system, at least in the part where force uncertainty appears.

As robots are becoming more and more sophisticated the interest in robot dynamics is increasing. Within this field, contact problems are among the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior.