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008 160908s2017 sz | s |||| 0|eng d
020 _a9783319329222
_9978-3-319-32922-2
024 7 _a10.1007/978-3-319-32922-2
_2doi
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aBohigas, Oriol.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_945495
245 1 0 _aSingularities of Robot Mechanisms
_h[electronic resource] :
_bNumerical Computation and Avoidance Path Planning /
_cby Oriol Bohigas, Montserrat Manubens, Lluís Ros.
250 _a1st ed. 2017.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2017.
300 _aXXI, 184 p. 93 illus., 64 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aMechanisms and Machine Science,
_x2211-0992 ;
_v41
505 0 _aPreface -- 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 _aThis 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. .
650 0 _aControl engineering.
_931970
650 0 _aRobotics.
_92393
650 0 _aAutomation.
_92392
650 0 _aMultibody systems.
_96018
650 0 _aVibration.
_96645
650 0 _aMechanics, Applied.
_93253
650 0 _aNumerical analysis.
_94603
650 0 _aEngineering mathematics.
_93254
650 0 _aEngineering—Data processing.
_931556
650 1 4 _aControl, Robotics, Automation.
_931971
650 2 4 _aMultibody Systems and Mechanical Vibrations.
_932157
650 2 4 _aNumerical Analysis.
_94603
650 2 4 _aMathematical and Computational Engineering Applications.
_931559
700 1 _aManubens, Montserrat.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_945496
700 1 _aRos, Lluís.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_945497
710 2 _aSpringerLink (Online service)
_945498
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783319329208
776 0 8 _iPrinted edition:
_z9783319329215
776 0 8 _iPrinted edition:
_z9783319813998
830 0 _aMechanisms and Machine Science,
_x2211-0992 ;
_v41
_945499
856 4 0 _uhttps://doi.org/10.1007/978-3-319-32922-2
912 _aZDB-2-ENG
912 _aZDB-2-SXE
942 _cEBK
999 _c77690
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