×

Dynamics of robots with contact tasks. (English) Zbl 1113.93007

International Series on Microprocessor-Based and Intelligent Systems Engineering 26. Dordrecht: Kluwer Academic Publishers (ISBN 978-1-4020-1809-1). xiii, 248 p. (2004).
Publisher’s description: 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. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to complex dynamic environments. It provides a number of examples. Dynamic modeling is the primary interest of the book but control issues are treated as well. Because dynamics and contact control tasks are strongly related the authors also provide a brief description of relevant control issues.
The book will be of interest to engineers working in research and development in robotics and automation and to both graduate and postgraduate students. The work will also be valuable to readers involved in manufacturing, robotics, automation, computer and control engineering.

MSC:

93-02 Research exposition (monographs, survey articles) pertaining to systems and control theory
93C85 Automated systems (robots, etc.) in control theory
68T40 Artificial intelligence for robotics
93A30 Mathematical modelling of systems (MSC2010)