Singularities of Robot Mechanisms (Запис № 446680)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 05901nam a22006975i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-32922-2 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | DE-He213 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20210118124740.0 |
| 007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION | |
| fixed length control field | cr nn 008mamaa |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 160908s2017 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| International Standard Book Number | 9783319329222 |
| -- | 978-3-319-32922-2 |
| 024 7# - OTHER STANDARD IDENTIFIER | |
| Standard number or code | 10.1007/978-3-319-32922-2 |
| Source of number or code | doi |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER | |
| Classification number | TJ210.2-211.495 |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER | |
| Classification number | T59.5 |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TJFM1 |
| Source | bicssc |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TEC037000 |
| Source | bisacsh |
| 072 #7 - SUBJECT CATEGORY CODE | |
| Subject category code | TJFM1 |
| Source | thema |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.892 |
| Edition number | 23 |
| 100 1# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Bohigas, Oriol. |
| Relator term | author. |
| Relator code | aut |
| -- | http://id.loc.gov/vocabulary/relators/aut |
| 245 10 - TITLE STATEMENT | |
| Title | Singularities of Robot Mechanisms |
| Medium | [electronic resource] : |
| Remainder of title | Numerical Computation and Avoidance Path Planning / |
| Statement of responsibility, etc | by Oriol Bohigas, Montserrat Manubens, Lluís Ros. |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2017. |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2017. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | XXI, 184 p. 93 illus., 64 illus. in color. |
| Other physical details | online resource. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
| -- | cr |
| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 490 1# - SERIES STATEMENT | |
| Series statement | Mechanisms and Machine Science, |
| Міжнародний стандартний серійний номер для назви серії (ISSN) | 2211-0984 ; |
| Том/ позначення послідовності | 41 |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Formatted contents note | 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. . |
| 506 ## - RESTRICTIONS ON ACCESS NOTE | |
| Terms governing access | Available to subscribing member institutions only. Доступно лише організаціям членам підписки. |
| 506 ## - RESTRICTIONS ON ACCESS NOTE | |
| Standardized terminology for access restriction | Online access from local network of NaUOA. |
| 506 ## - RESTRICTIONS ON ACCESS NOTE | |
| Standardized terminology for access restriction | Online access with authorization at https://link.springer.com/ |
| 506 ## - RESTRICTIONS ON ACCESS NOTE | |
| Standardized terminology for access restriction | Онлайн-доступ з локальної мережі НаУОА. |
| 506 ## - RESTRICTIONS ON ACCESS NOTE | |
| Standardized terminology for access restriction | Онлайн доступ з авторизацією на https://link.springer.com/ |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Automation. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Vibration. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Dynamical systems. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Dynamics. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Numerical analysis. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Applied mathematics. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Engineering mathematics. |
| 650 14 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Robotics and Automation. |
| -- | http://scigraph.springernature.com/things/product-market-codes/T19020 |
| 650 24 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Vibration, Dynamical Systems, Control. |
| -- | http://scigraph.springernature.com/things/product-market-codes/T15036 |
| 650 24 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Numerical Analysis. |
| -- | http://scigraph.springernature.com/things/product-market-codes/M14050 |
| 650 24 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name as entry element | Mathematical and Computational Engineering. |
| -- | http://scigraph.springernature.com/things/product-market-codes/T11006 |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Manubens, Montserrat. |
| Relator term | author. |
| Relator code | aut |
| -- | http://id.loc.gov/vocabulary/relators/aut |
| 700 1# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Ros, Lluís. |
| Relator term | author. |
| Relator code | aut |
| -- | http://id.loc.gov/vocabulary/relators/aut |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | SpringerLink (Online service) |
| 773 0# - HOST ITEM ENTRY | |
| Title | Springer eBooks |
| 776 08 - ADDITIONAL PHYSICAL FORM ENTRY | |
| Display text | Printed edition: |
| International Standard Book Number | 9783319329208 |
| 776 08 - ADDITIONAL PHYSICAL FORM ENTRY | |
| Display text | Printed edition: |
| International Standard Book Number | 9783319329215 |
| 776 08 - ADDITIONAL PHYSICAL FORM ENTRY | |
| Display text | Printed edition: |
| International Standard Book Number | 9783319813998 |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| Uniform title | Mechanisms and Machine Science, |
| -- | 2211-0984 ; |
| Volume number/sequential designation | 41 |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="https://doi.org/10.1007/978-3-319-32922-2">https://doi.org/10.1007/978-3-319-32922-2</a> |
| 912 ## - | |
| -- | ZDB-2-ENG |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | ЕКнига |
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