Kinematics and Trajectory Synthesis of Manipulation Robots [E-Book] / by Miomir Vukobratović, Manja Kirćanski.
Vukobratović, Miomir, (author)
Kirćanski, Manja, (author)
Berlin, Heidelberg : Springer, 1986
X, 268 p. online resource.
englisch
9783642821950
10.1007/978-3-642-82195-0
Communications and Control Engineering Series ; 3
Full Text
Table of Contents:
  • 1 Kinematic Equations
  • 1.1. Introduction
  • 1.2. Definitions
  • 1.3. Manipulator hand position
  • 1.4. Manipulator hand orientation
  • 1.5. Manipulator hand velocities
  • 1.6. Summary
  • 2 Computer-aided Generation of Kinematic Equations in Symbolic Form
  • 2.1. Introduction
  • 2.2. Symbolic kinematic equations
  • 2.3. The Jacobian matrix with respect to the hand coordinate frame
  • 2.4. The Jacobian matrix with respect to the base coordinate frame
  • 2.5. Program implementation, numerical aspects and examples
  • 2.6. Summary
  • Appendix I Direct Kinematic Problem for the Arthropoid Manipulator
  • Appendix II The Jacobian with Respect to the Hand Coordinate Frame for the Arthropoid Manipulator
  • Appendix III The Jacobion with Respect to the Base Coordinate Frame for the Arthropoid Manipulator
  • 3 Inverse Kinematic Problem
  • 3.1. Introduction
  • 3.2. Analytical solutions
  • 3.3. Numerical solutions
  • 3.4. Summary
  • 4 Kinematic Approach to Motion Generation
  • 4.1. Introduction
  • 4.2. Manipulation task
  • 4.3. Trajectory planning
  • 4.4. Motion between positions
  • 4.5. Procedurally defined motion
  • 4.6. Summary
  • 5 Dynamic Approach to Motion Generation
  • 5.1. Introduction
  • 5.2. Manipulation system dynamic model
  • 5.3. An overview of methods for dynamic motion synthesis
  • 5.4. Determination of the energy optimal velocity distribution using dynamic programming
  • 5.5. Quasioptimal nominal trajectory synthesis using decentralized system model
  • 5.6. Summary
  • 6 Motion Generation for Redundant Manipulators
  • 6.1. Introduction
  • 6.2. Kinematic methods for redundant manipulator motion generation
  • 6.3. Energy optimal motion synthesis
  • 6.4. Obstacle avoidance using redundant manipulators
  • 6.5. An algorithm for redundant manipulator motion synthesis in the presence of obstacles
  • 6.6. Summary
  • References.