Titlebook: Dynamics of Robots with Contact Tasks; Miomir Vukobratovic,Veljko Potkonjak,Vladimir Mati Book 2003 Springer Science+Business Media Dordre

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https://doi.org/10.1007/978-94-017-0397-0automation; complexity; control engineering; development; modeling; robot; robotics

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The World Economic Forum Water Initiativenvironment) is modeled. The reason for the emergence of the indefiniteness problem with respect to force is explained and the procedure for solving this problem is given. Unlike the approaches given in the available literature, the indefiniteness problem with respect to force is solved in accordance with physical phenomena.

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The World Economic Forum Water Initiativedeburring, polishing, bending, etc. In these tasks, force is an inherent part of the process and plays a decisive role in its execution (e.g., metal cutting or plastic deformation). In order to prevent overloading or damaging of the tool during the operation, force must be controlled in accordance with some definite task requirements.

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2213-8986 ng the most interesting, since contacts are present in almost any robot task and introduce serious complexity to system dynamics, strongly influencing robot behavior. The book formulates dynamic models of robot interaction with different kinds of environment, from pure geometrical constraints to com

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https://doi.org/10.5822/978-1-61091-026-2sional vector of the generalized forces or generalized forces and moments acting on the endeffector from the environment. Dimension of the vector . can be adopted in Cartesian coordinates to be 3 or 6. Presently, it will be assumed that . (generally .).

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Appendix 2,sional vector of the generalized forces or generalized forces and moments acting on the endeffector from the environment. Dimension of the vector . can be adopted in Cartesian coordinates to be 3 or 6. Presently, it will be assumed that . (generally .).

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