Singularities of robot mechanisms : numerical computation and avoidance path planning /: numerical computation and avoidance path planning. (©2017)

• Record Type: Book
• Further Information: Note: Oriol Bohigas, Montserrat Manubens, Lluis Ros.
• Other Names: Bohigas, Oriol; Manubens, Montserrat; Ros, Lluís
• Contents: 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.
• Publisher Details: Switzerland : Springer
• Publication Date: 2017
• Copyright Date: 2017
• Extent: 1 online resource, illustrations
• Subjects: 629.892; Engineering; Robotics; Mechanical movements; Robots -- Kinematics; TECHNOLOGY & ENGINEERING -- Engineering (General); Mechanical movements; Robotics; Robots -- Kinematics; Technology & Engineering -- Mechanical; Mathematics -- Number Systems; Mathematics -- Applied; Dynamics & vibration; Numerical analysis; Maths for engineers; Vibration; Numerical analysis; Engineering mathematics; Technology & Engineering -- Robotics; Robotics; Electronic books
• Languages: English
• ISBNs: 9783319329222; 3319329227
• Related ISBNs: 9783319329208; 3319329200
• Notes: Note: Includes bibliographical references and indexes.
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.