Addresses challenging aspects of robotics research, including the dynamics of robots with elastic parts and optimal control of manipulators. Basics in kinematics, dynamics, drives, and control and sensor systems are discussed. To more efficiently evaluate the elastic compliance of robots and their dynamic accuracy, the authors propose new computer techniques and provide much experimental data. Optimal control methods presented in the book allow robotics engineers to increase the speed and productivity of robotic operations and reduce energy consumption.
New developments in robotics covered include pneumatic sensors, adaptive grippers, special robotic systems for measurement and inspection, and wall-climbing robots with technological manipulators. The book will be an important reference for mechanical engineers, electrical engineers, robotics engineers, and researchers in automatic control.
"I would strongly recommend Manipulation Robots: Dynamics, Control and Optimization to students and researchers alike working in the area of manipulation robots with compliant parts, and to engineering libraries at research-oriented universities."
-Applied Mechanical Review, 48, 2, 1995
Structure and Basic Components of Manipulation Robots. Basic Kinematics and Dynamics of Manipulation Robots. Dynamics of Systems with Elastic and Dissipative Elements. Dynamics of Manipulation Robots with Elastic Parts. Experimental Study of Elastic Properties of Manipulation Robots. Dynamics of Industrial Robots with Elastic Joints. Optimal Control of Manipulation Robots. Application of Robots. References.