Dynamics of robots

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ISBN 83-204-3128-X
Author: Jezierski Edward
Publisher: WNT

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About the book

The book is devoted to the dynamics of kinematic chains of robots with their power units. It discusses the basics of kinematics and dynamics of robots, and then the dynamics of robot drive assemblies, especially electrical and pneumatic assemblies and muscle drives. The problem of uniform representation of the robot's dynamics is presented, based on the analogy between electrical and mechanical subassemblies. Selected control systems using robot dynamics models are also presented. The book helps to understand the dynamic properties of robots, which is particularly important in the design of controllers, which should ensure the maximum work of robots.

It is intended for students and PhD students in the field of automation and robotics, as well as for research workers and electrical engineers and mechanics dealing in robotics.

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Table of Contents

Preface

1. Introduction

1.1. Historical outline and basic definitions
1.2. Basic components of an industrial robot
1.3. Kinematic chain of the manipulator
L.4. Notation used at work

2. Kinematics of manipulators

2.1. Introduction
2.2. Transforming coordinate systems
2.2.1. Coordinate system offsets
2.2.2. Rotations of coordinate systems
2.2.3. Uniform transformations
2.3. Denavit-Hartenberg algorithm
2.4. The reverse task of kinematics
2.5. Speeds in different coordinate systems
2.6. Jakobiany manipulator

3. The dynamics of the kinematic chain

3.1. Lagrange formalism
3.2. Kinetic and potential energy cells
3.3. The general form of the manipulator dynamics model
3.4. Newton-Euler formalism
3.5. The dynamics of the manipulator with flexible connectors

4. Dynamics of robot drive systems

4.1. Basic properties of drive systems
4.2. Electric drives
4.2.1. Electric drives with DC motors
4.2.2. Electric drives with brushless motors
4.2.3. Other electric drives
4.3. Pneumatic drives
4.3.1. Pneumatic cylinders and transmission mechanisms
4.3.2. Power for the cylinder chambers
4.3.3. Compliance of pneumatic cylinders
4.4. Robotic muscle drives

5. Uniform representation of the dynamics of the robot

5.1. Analogies between electrical and mechanical systems
5.2. The speed-current analogy
5.3. The speed-voltage analogy
5.4. Electrical analogs in the representation of robot dynamics

6. The use of dynamics models of manipulators in systems

robot control

6.1. Development of the robot control concept
6.2. Positional control
6.3. Positional and force control
6.4. Impedance control
6.4.l. Impedance and electrical admittance
6.4.2. Impedance and admittance in robotics
6.4.3. Modification of impedance properties of manipulators

Addition
A. Selected properties of vectors and matrices
B. Euler-Lagrange equation

Literature
Index