Singularities of Robot Mechanisms (Record no. 77690)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 05319nam a22006615i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-32922-2 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20220801215626.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 160908s2017 sz | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319329222 |
| -- | 978-3-319-32922-2 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | Bohigas, Oriol. |
| 245 10 - TITLE STATEMENT | |
| Title | Singularities of Robot Mechanisms |
| Sub Title | Numerical Computation and Avoidance Path Planning / |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2017. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XXI, 184 p. 93 illus., 64 illus. in color. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Mechanisms and Machine Science, |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | Preface -- Notation -- List of Figures -- 1 Introduction -- 1.1 Historical Context -- 1.2 Assumptions and Scope -- 1.3 Reader’s Guide -- 2 Singularity Types -- 2.1 Forward and Inverse Singularities -- 2.2 A Geometric Interpretation of Singularities -- 2.3 Lower-level Singularity Types -- 2.4 A Simple Mechanism with All Singularities -- 3 Numerical Computation of Singularity Sets -- 3.1 A Suitable Approach -- 3.2 Formulating the Equations of the Singularity Set -- 3.3 Isolating the Singularity Set -- 3.4 Visualising the Singularity Sets -- 3.5 Case Studies -- 4 Workspace Determination -- 4.1 The Need of a General Method -- 4.2 The Workspace and its Boundaries -- 4.3 Issues of Continuation Methods -- 4.4 Exploiting the Branch-and-Prune Machinery -- 4.5 Case Studies -- 5 Singularity-free Path Planning -- 5.1 Related Work -- 5.2 Formulating the Singularity-free C-space -- 5.3 Exploring the Singularity-free C-space -- 5.4 Case Studies -- 6 Planning with Further Constraints -- 6.1 Wrench-Feasibility Constraints -- 6.2 The Planning Problem -- 6.3 Proofs of the Properties -- 6.4 Case Studies -- 6.5 Details about the Wrench Ellipsoid -- 6.6 Extensions -- 7 Conclusions -- 7.1 Summary of Results -- 7.2 Future Research Directions -- References -- Index -- Author Index. . |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | 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. . |
| 700 1# - AUTHOR 2 | |
| Author 2 | Manubens, Montserrat. |
| 700 1# - AUTHOR 2 | |
| Author 2 | Ros, Lluís. |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | https://doi.org/10.1007/978-3-319-32922-2 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2017. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Multibody systems. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Vibration. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mechanics, Applied. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Numerical analysis. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering mathematics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering—Data processing. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control, Robotics, Automation. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Multibody Systems and Mechanical Vibrations. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Numerical Analysis. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Mathematical and Computational Engineering Applications. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 2211-0992 ; |
| 912 ## - | |
| -- | ZDB-2-ENG |
| 912 ## - | |
| -- | ZDB-2-SXE |
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