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020 _a9783319329222
_9978-3-319-32922-2
024 7 _a10.1007/978-3-319-32922-2
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTJFM1
_2thema
082 0 4 _a629.892
_223
100 1 _aBohigas, Oriol.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
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,
_x2211-0984 ;
_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 _aRobotics.
650 0 _aAutomation.
650 0 _aVibration.
650 0 _aDynamical systems.
650 0 _aDynamics.
650 0 _aNumerical analysis.
650 0 _aApplied mathematics.
650 0 _aEngineering mathematics.
650 1 4 _aRobotics and Automation.
_0http://scigraph.springernature.com/things/product-market-codes/T19020
650 2 4 _aVibration, Dynamical Systems, Control.
_0http://scigraph.springernature.com/things/product-market-codes/T15036
650 2 4 _aNumerical Analysis.
_0http://scigraph.springernature.com/things/product-market-codes/M14050
650 2 4 _aMathematical and Computational Engineering.
_0http://scigraph.springernature.com/things/product-market-codes/T11006
700 1 _aManubens, Montserrat.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
700 1 _aRos, Lluís.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319329208
776 0 8 _iPrinted edition:
_z9783319329215
776 0 8 _iPrinted edition:
_z9783319813998
830 0 _aMechanisms and Machine Science,
_x2211-0984 ;
_v41
856 4 0 _uhttps://doi.org/10.1007/978-3-319-32922-2
912 _aZDB-2-ENG
999 _c446680
_d446680
942 _cEB
506 _aAvailable to subscribing member institutions only. Доступно лише організаціям членам підписки.
506 _fOnline access from local network of NaUOA.
506 _fOnline access with authorization at https://link.springer.com/
506 _fОнлайн-доступ з локальної мережі НаУОА.
506 _fОнлайн доступ з авторизацією на https://link.springer.com/