國立虎尾科技大學 |

Singularities of robot mechanisms = numerical computation and avoidance path planning /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Singularities of robot mechanisms/ by Oriol Bohigas, Montserrat Manubens, Lluis Ros.
其他題名:	numerical computation and avoidance path planning /
作者:	Bohigas, Oriol.
其他作者:	Manubens, Montserrat.
出版者:	Cham :Springer International Publishing : : 2017.,
面頁冊數:	xxi, 184 p. :ill., digital ; : 24 cm.;
Contained By:	Springer eBooks
標題:	Robotics. -
電子資源:	http://dx.doi.org/10.1007/978-3-319-32922-2
ISBN:	9783319329222

Singularities of robot mechanisms = numerical computation and avoidance path planning /
Bohigas, Oriol.

Singularities of robot mechanismsnumerical computation and avoidance path planning /[electronic resource] :by Oriol Bohigas, Montserrat Manubens, Lluis Ros. - Cham :Springer International Publishing :2017. - xxi, 184 p. :ill., digital ;24 cm. - Mechanisms and machine science,v.412211-0984 ;. - Mechanisms and machine science ;v.8..

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.

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.

ISBN: 9783319329222

Standard No.: 10.1007/978-3-319-32922-2doiSubjects--Topical Terms:

561941
Robotics.

LC Class. No.: TJ211.412

Dewey Class. No.: 629.892

Singularities of robot mechanisms = numerical computation and avoidance path planning /
LDR:03837nam a2200337 a 4500 001 956190
003 DE-He213
005 20160908101008.0
006 m d
007 cr nn 008maaau
008 201117s2017 gw s 0 eng d
020 $a 9783319329222 $q (electronic bk.)
020 $a 9783319329208 $q (paper)
024 7 $a 10.1007/978-3-319-32922-2 $2 doi
035 $a 978-3-319-32922-2
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211.412
072 7 $a TJFM1 $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TEC004000 $2 bisacsh
082 0 4 $a 629.892 $2 21
090 $a TJ211.412 $b .B676 2017
100 1 $a Bohigas, Oriol. $3 1247136
245 1 0 $a Singularities of robot mechanisms $h [electronic resource] : $b numerical computation and avoidance path planning / $c by Oriol Bohigas, Montserrat Manubens, Lluis Ros.
260 $a Cham : $c 2017. $b Springer International Publishing : $b Imprint: Springer,
300 $a xxi, 184 p. : $b ill., digital ; $c 24 cm.
490 1 $a Mechanisms and machine science, $x 2211-0984 ; $v v.41
505 0 $a 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 $a 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.
650 0 $a Robotics. $3 561941
650 0 $a Mechanical movements. $3 591373
650 0 $a Robots $x Kinematics. $3 644016
650 1 4 $a Engineering. $3 561152
650 2 4 $a Robotics and Automation. $3 782979
650 2 4 $a Vibration, Dynamical Systems, Control. $3 670825
650 2 4 $a Numerical Analysis. $3 671433
650 2 4 $a Appl.Mathematics/Computational Methods of Engineering. $3 669335
700 1 $a Manubens, Montserrat. $3 1247137
700 1 $a Ros, Lluis. $3 1247138
710 2 $a SpringerLink (Online service) $3 593884
773 0 $t Springer eBooks
830 0 $a Mechanisms and machine science ; $v v.8. $3 883853
856 4 0 $u http://dx.doi.org/10.1007/978-3-319-32922-2
950 $a Engineering (Springer-11647)