Real-time dynamics of manipulation robots (Q761056)

This is the fourth (the third is still unpublished) book from the Series ''Scientific Fundamentals of Robotics''. It presents a new approach (called ''numeric-symbolic'' or ''analytic'' by the authors) to the development of manipulation robots dynamics, suitable for real-time model computation on microcomputers and is intended for post-graduate students and engineers involved in robotics. In Chapter 1, ''Survey of Computer-Aided Robot Modelling Methods'', a review is made of computer-aided (suitable for real-time applications) methods for mathematical modelling of manipulation robots. The methods are classified into five groups: methods based on Lagrange's equation, methods based on Newton-Euler equations, methods based on Appel's equations, symbolic methods and numeric-symbolic methods. In Chapter 2, ''Computer-Aided Methods for Closed-Form Dynamic Robot Model Construction'', a new closed-form formulation of open-loop mechanism equations of motion is presented. Also considered are the closed-form linearized and sensitivity models. In Chapter 3 ''Computer-Aided Generation of Numeric-Symbolic Robot Model'' new concepts for numeric-symbolic manipulation robots modelling are presented, the relevant notation and definitions are introduced and the complete algebra of polynomial matrices is given. In Chapter 4, ''Model Optimization and Real-Time Program-Code Generation'', the computational optimization of analytic models and generation of real- time program-code are discussed, developing an algorithm for calculating polynomial matrices minimizing the elementary numerical operators involved. In Chapter 5, ''Examples'', the results proposed are illustrated by three examples of anthropomorphic, cylindric and anthropoid structure manipulation robots.