Dynamics and control of robots

The book contains a full, ordered course of robotics basics in the field of kinematics, dynamics and control. It begins with the systematization of basic concepts in the field of robotics, with definitions and examples. Next, the mathematical apparatus used in further considerations is presented. The following chapters discuss the problems of simple and inverse kinematic task and velocities in the robot's kinematic chain. A separate chapter is devoted to the dynamics of manipulators. In the control section, the control of robot axes, multidimensional control and force control are discussed independently. The problems of linearization and adaptive control were also presented. Included are numerous examples and tasks for self-solution. A set of auxiliary literature was selected for each chapter. The book is intended for students of the field of automation and robotics, as well as for engineers dealing in practice with the construction of robotic systems and the implementation of tasks in the field of robotization of production.