Applied Dynamics of Manipulation Robots

Contents: General About Robots.- Computer Forming of Mathematical Model of Manipulation Robots Dynamics.- Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models.- Connection Between the Moving and Fixed System.- Manipulator Kinematical Model.- Determining Velocities and Accelerations.- Momentum of Rigid Body with Respect to a Fixed Pole.- Specifities of Lever-Mechanisms Dynamics.- Mathematical Models of Driving Units.- Automatic Forming of Dynamic Models.- Dynamics of 'ASEA' Mechanism.- Programme Support for Dynamics Modelling of Manipulation Robots.- Subject Index.

This book is devoted to the study of manipulation robot dynamics and its applications. It contains a computational procedure for the automatic generation of mathematical models of robot dynamics, comprising linearized models of robot dynamics and parameter sensitivity models. The presentation is complemented by a selection of problems and solutions presenting mathematical models of different types of drives and examples of dynamic models of characteristic manipulation systems.