Language:
English
繁體中文
Help
Login
Back
Switch To:
Labeled
|
MARC Mode
|
ISBD
Singularities of robot mechanisms = ...
~
Manubens, Montserrat.
Singularities of robot mechanisms = numerical computation and avoidance path planning /
Record Type:
Language materials, printed : Monograph/item
Title/Author:
Singularities of robot mechanisms/ by Oriol Bohigas, Montserrat Manubens, Lluis Ros.
Reminder of title:
numerical computation and avoidance path planning /
Author:
Bohigas, Oriol.
other author:
Manubens, Montserrat.
Published:
Cham :Springer International Publishing : : 2017.,
Description:
xxi, 184 p. :ill., digital ; : 24 cm.;
Contained By:
Springer eBooks
Subject:
Robotics. -
Online resource:
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 mechanisms
numerical 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)
based on 0 review(s)
Multimedia
Reviews
Add a review
and share your thoughts with other readers
Export
pickup library
Processing
...
Change password
Login