8331764014

CONTENTS

SYMBOLSOF MAJOR NOTATIONS

1.    INTRODUCTION

1.1.    Genesis of the dissertation

1.2.    Research object

1.3.    Literaturę of the subject

1.4.    Aim and field of the dissertation

1.5.    Problemsof robotics

2.    MODELS OF IRM MOTION

2.1.    Kinematicsofl RM

2.1.1.    Continuous description of motion

2.1.2.    Continuous form of direct and inverse kinematic problem

2.1.3.    Differential description of motion

2.1.4.    Differential form of direct and inverse kinematic problem

2.2.    Dynamics of IRM

2.2.1.    Lagrange eąuations

2.2.2.    Newton-Euler eąuations

2.2.3.    Direct and inverse dynamie problem

2.3.    Summary

2.3.1.    Direct kinematic problem

2.3.2.    Inverse kinematic problem

2.3.3.    Kinematic conditions ofachievement ofdesired trajectory points

2.3.4.    Dynamics

2.3.5.    Computaion Problems of Dynamics

2.3.6.    Dynamie and generał conditions of realization of desired trajectory

3.    MODELLING AND SIMULATION OF AS ROBOT

3.1. ASIRMmodels

3.1.1.    AS IRM kinematies

3.1.2.    AS IRM dynamies

3.2.    Models of AS robot in Simulink environment

3.2.1.    AS robot model

3.2.2.    Manipulator model

3.2.3.    Servo models

3.2.4.    Actuator models

3.2.5.    Current actuator controller models

3.3.    Examples of AS robot motion simulation

3.3.1.    Desired trajectories

3.3.2.    Simulation of motion

3.4.    Simplification of models

3.5.    Summary

4.    MODELLING AND SIMULATION OF L-l ROBOT

4.1.    L-l IRM models

4.1.1.    L-l IRM kinematies

4.1.2.    L-l IRM dynamies

4.2.    Models of L-l robot in Simulink environment