Real-Time Dynamics of Manipulation Robots

This is the fourth book from the Series "Scientific Fundamentals of Ro­ botics". The first two volumes have established abackqround for studying the dynamics and control of robots. While the first book was exclusive­ ly devoted to the dynamics of active spatial mechanisms, the second treated the problems of the dynamic control of manipulation robots. In contrast to the first two books, where recursive computer-aided me­ thods for setting robot dynamic equations where described, this mono­ graph