Download PDF by Oriol Bohigas,Montserrat Manubens,Lluís Ros: Singularities of Robot Mechanisms: Numerical Computation and
By Oriol Bohigas,Montserrat Manubens,Lluís Ros
This e-book provides the singular configurations linked to a robotic mechanism, including strong equipment for his or her computation, interpretation, and avoidance course making plans. Having such tools is key as singularities quite often pose difficulties to the traditional operation of a robotic, but additionally confirm the workspaces and movement impediments of its underlying mechanical constitution. a particular characteristic of this quantity is that the tools are acceptable to nonredundant mechanisms of common structure, outlined by way of planar or spatial kinematic chains interconnected in an arbitrary method. additionally, singularities are interpreted as silhouettes of the configuration house while noticeable from the enter or output areas. This ends up in a robust photo that explains the implications of traversing singular configurations, and the entire wealthy details that may be extracted from them. the issues are solved through potent branch-and-prune and numerical continuation tools which are of self reliant curiosity in themselves. the speculation might be placed into perform in addition: a spouse online page provides open entry to implementations of the algorithms and the corresponding enter records. utilizing them, the reader can achieve hands-on adventure at the subject, or examine new mechanisms past these tested within the textual content. total, the booklet contributes new instruments for robotic layout, and constitutes a unmarried reference resource of data that's another way dispersed within the literature.
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Singularities of Robot Mechanisms: Numerical Computation and Avoidance Path Planning (Mechanisms and Machine Science) by Oriol Bohigas,Montserrat Manubens,Lluís Ros