000 | 05319nam a22006615i 4500 | ||
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001 | 978-3-319-32922-2 | ||
003 | DE-He213 | ||
005 | 20220801215626.0 | ||
007 | cr nn 008mamaa | ||
008 | 160908s2017 sz | s |||| 0|eng d | ||
020 |
_a9783319329222 _9978-3-319-32922-2 |
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024 | 7 |
_a10.1007/978-3-319-32922-2 _2doi |
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050 | 4 | _aTJ212-225 | |
050 | 4 | _aTJ210.2-211.495 | |
072 | 7 |
_aTJFM _2bicssc |
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_aTEC037000 _2bisacsh |
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072 | 7 |
_aTJFM _2thema |
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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. |
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300 |
_aXXI, 184 p. 93 illus., 64 illus. in color. _bonline resource. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_acomputer _bc _2rdamedia |
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338 |
_aonline resource _bcr _2rdacarrier |
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347 |
_atext file _bPDF _2rda |
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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 |
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650 | 0 |
_aRobotics. _92393 |
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650 | 0 |
_aAutomation. _92392 |
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650 | 0 |
_aMultibody systems. _96018 |
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650 | 0 |
_aVibration. _96645 |
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650 | 0 |
_aMechanics, Applied. _93253 |
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650 | 0 |
_aNumerical analysis. _94603 |
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650 | 0 |
_aEngineering mathematics. _93254 |
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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 |
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