Modeling and control of robots

Modeling and control of robots - the latest achievements!

The manual presents basic issues in the field of programming manipulator tasks. The problems of kinematics - simple and inverse - are discussed for a single manipulator and for a system of cooperating robots. The methods of planning the trajectory and programming of robots are given. The issues discussed are illustrated with many computational and practical examples.

The book contains:

• the latest achievements in the field of control of rigid cell keypads and with flexibility in joints,
• simple and transparent record of complex kinematics, dynamics and control equations thanks to the use of a universal spatial algebra apparatus,
• results of simulation and experimental tests; for programming modeling and control of industrial robots, MATLAB and Simulink were used.

The publication is intended for students of the faculties of automation and robotics, computer science and management, electronics, mechatronics and production engineering, as well as PhD students, academics and engineers dealing with these fields of knowledge.