Titlebook: Real-Time Dynamics of Manipulation Robots; Miomir Vukobratovi?,Nenad Kir?anski Textbook 1985 Springer-Verlag, Berlin, Heidelberg 1985 Robo

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Introduction,ly difficult problem because of the prominent nonlinearity and complexity of mathematical models of these systems. With industrial robots, which will be treated in this book, the application of such theory and the development of new control algorithms are unavoidable in order to achieve high positio

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Computer-Aided Generation of Numeric-Symbolic Robot Model, which is very suitable for program implementation. Further, we indicated how such a model could be used to prove the property of symmetry and positive-definiteness of inertial matrix, and antisymmetry of C-matrices. We also resolved the problem of linearized and sensitivity model generation. In thi

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