By D. Sc., Ph. D. Miomir Vukobratović, Ph. D. Dragan Stokić (auth.)

This monograph represents the second one ebook of the sequence entitled: "SCI ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". whereas the 1st quantity presents a research of the dynamics of spatial mechanisms and its software to the layout of those mechanisms, the current one specializes in the synthesis -of regulate based~n the information of dynamic versions (presented in de tail within the first_ volume). during this means a logical continuity is shaped within which one might simply realize a "dynamic" method of the layout of manipulation r-obots and the synthesis of regulate algorithms in keeping with targeted mathematical versions of dynamics of open spatial mechanisms. whilst writing the monograph, the authors had the subsequent aim: to turn out learn of dynamic homes of manipulation mechanisms is justifiable, to exploit the dynamic houses within the synthesis of con trol algorithms, and to figure out, from one case to a different, a formal degree of dynamics reckoning on the kind of manipulation job, the "v$!locity at which "it is performed, and at the kind of the manipu- tion mechanisms itself. The authors think they've got therefore made the learn of dynamics,' geared toward synthesizing algorithms for dynamic con trol, loose from pointless academicism and allowed the readers to use the entire effects provided right here to sensible reasons of manipu lator layout in thfil broader feel of the be aware. At this element, the au thors wish to current a few thoughts which have been their instructions in getting ready this text.

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Member, according to relation Fi = -miwi , can be written as i+ .. "t. 23) ~ where matrix Ti (3 x 3) has the components jt 3 1. t=l A. ~ k J·nq·n ~x, ~x, 3 1. t=l . k q~nq J. 24) Substituting the preceding expressions for angular accelerations, one obtains: i -+ . 1. b .. qJ H. e. 25) T;to' ~ ~ + t;. ~ Fig. 8. illustrates the block-scheme of the algorithm for calculating forces and moments of inertial forces. 25). 25) the moment of inertial forces can be written directly in the fixed coordinate system, in which the projections of the angular velocity onto the fixed axes do not figure.

Of the ASME, Journal of Dynamic Systems, Measurement and Control, September, 164-172, 1971. , Robot Arm Dynamic and Control, JET propulsion Laboratory NASA Technical Memorandum 33-669 - February 15, 1974. 6, 91-101, 1976. Ekalo, "Stability and Stabilization of Programmed Motion of Robots-Manipulators", (in Russian), Avtomatika and Telemechanika, No 10, 148-156, 1976. Lee, "An Approximation Theory of Optimal Control for Trainable Manipulators", IEEE Trans. on Systems, Man, and Cybernetics, Vol. SMC-9, No 3, pp.

On Autom. Contr. in Space, Erevan, USSR, 1974. Popov, Nauka, MOscow, 1978. , "How to Control the Artificial Anthropomorphic Systems", IEEE Trans. on Systems, Man and Cybernetics, SMC-3, 497-507, 1973. pupin", (in English) Beograd, 1975, Also Published by Mir, Moscow, 1976 (in Russian). Stokic, Airplane Flight Dynamics and its Application, (in Serbian), Monograph "Mihailo Pupin" Institute, Beograd, 1980. Safonov, "Survey of Decentralized ,Control Methods for Large-Scale SYptems", IEEE Trans. on Automatic Control AC-23, 108-128, 1978.