Singularities Of Robot Mechanisms PDF Download
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| Author | : Oriol Bohigas |
| Publisher | : Springer |
| Total Pages | : 184 |
| Release | : 2016-09-08 |
| Genre | : Technology & Engineering |
| ISBN | : 3319329227 |
Download Singularities of Robot Mechanisms Book in PDF, ePub and Kindle
This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves. The theory can be put into practice as well: a companion web page gives open access to implementations of the algorithms and the corresponding input files. Using them, the reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.
| Author | : Kevin M. Lynch |
| Publisher | : Cambridge University Press |
| Total Pages | : 545 |
| Release | : 2017-05-25 |
| Genre | : Computers |
| ISBN | : 1107156300 |
Download Modern Robotics Book in PDF, ePub and Kindle
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
| Author | : Jadran Lenarcic |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 342 |
| Release | : 2012-06-12 |
| Genre | : Technology & Engineering |
| ISBN | : 9400745222 |
Download Robot Mechanisms Book in PDF, ePub and Kindle
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
| Author | : Andreas Müller |
| Publisher | : Springer |
| Total Pages | : 229 |
| Release | : 2019-02-19 |
| Genre | : Technology & Engineering |
| ISBN | : 3030052192 |
Download Singular Configurations of Mechanisms and Manipulators Book in PDF, ePub and Kindle
The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.
| Author | : Jadran Lenarčič |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 558 |
| Release | : 2002-06-30 |
| Genre | : Computers |
| ISBN | : 9781402006968 |
Download Advances in Robot Kinematics Book in PDF, ePub and Kindle
This book presents the most recent research advances in the theory, design, control, and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion, and biomechanics.
| Author | : W. Khalil |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 500 |
| Release | : 2004-07-01 |
| Genre | : Technology & Engineering |
| ISBN | : 0080536611 |
Download Modeling, Identification and Control of Robots Book in PDF, ePub and Kindle
Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority · Unique range of coverage not available in any other book · Provides a complete course on robotic control at an undergraduate and graduate level
| Author | : Jingshan Zhao |
| Publisher | : Academic Press |
| Total Pages | : 495 |
| Release | : 2013-11-22 |
| Genre | : Technology & Engineering |
| ISBN | : 0124202233 |
Download Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms Book in PDF, ePub and Kindle
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity. Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems
| Author | : Jadran Lenarčič |
| Publisher | : Springer |
| Total Pages | : 453 |
| Release | : 2017-07-26 |
| Genre | : Technology & Engineering |
| ISBN | : 3319568027 |
Download Advances in Robot Kinematics 2016 Book in PDF, ePub and Kindle
This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.
| Author | : Jadran Lenarcic |
| Publisher | : Springer |
| Total Pages | : 477 |
| Release | : 2018-06-22 |
| Genre | : Technology & Engineering |
| ISBN | : 3319931881 |
Download Advances in Robot Kinematics 2018 Book in PDF, ePub and Kindle
This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
| Author | : Jadran Lenarčič |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 578 |
| Release | : 2013-04-17 |
| Genre | : Technology & Engineering |
| ISBN | : 9401590648 |
Download Advances in Robot Kinematics: Analysis and Control Book in PDF, ePub and Kindle
The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.
