Applied Dynamics of Manipulation Robots

1 General About Robots.- 1.1. Dedication and classification of robotic systems.- 1.2. General features of robotic mechanisms and its classification.- 1 3 Specifities of manipulation robots.- 1.3.1. Definition of position of an object in space.- 1.3.2. Structure of an industrial manipulation robot.- 1.3.3. Disposition of segments and their connections.- 1.3.4. Simple chain structure types.- 1.3.5. Mobility index and degrees of freedom of a manipulation robot.- 1.3.6. Redundancy and singularity.- 1.3.7. Degrees of freedom of a task: (d.o.f.t.).- 1.3.8. Compatibility.- 1.3.9. Decoupling the orientation and the position of the terminal device.- 1.3.10. Different minimal configurations.- 1.3.11.Workspace.- 1.3.12. Comparison of the workspaces of different minimal configurations.- References.- 2 Computer Forming of Mathematical Model of Manipulation Robots Dynamics.- 2.1. General about computer-oriented procedures for forming of mathematical models of robot dynamics.- 2.2. Complete mathematical models of manipulation robots.- 2.3. Influence of mechanical vibrations on dynamic behaviour of manipulation robots.- Example.- 2.4. Dynamics of manipulation robots with gripper constrained motion.- Example.- 2.5. Dynamic analysis of manipulation robots.- Example.- 2.6. Dynamics of flexible manipulation robots.- Approximate method for dynamic analysis of flexible manipulation robots.- 2.7. Dynamics of cooperative manipulation.- References.- 3 Computer Method for Linearization and Parameter Sensitivity of Manipulation Robots Dynamic Models.- 3.1. Introduction.- 3.2. Method of computer linearization of dynamic models based on general theorems of mechanics.- 3.3. Sensitivity analysis of manipulation robots dynamic models.- References.- Appendix 1 Connection Between the Moving and Fixed System.- References.- Appendix 2 Manipulator Kinematical Model.- Examples.- References.- Appendix 3 Determining Velocities and Accelerations.- References.- Appendix 4 Momentum of Rigid Body with Respect