Singularities Of Robot Mechanisms
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Singularities Of Robot Mechanisms
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Author : Oriol Bohigas
language : en
Publisher: Springer
Release Date : 2016-09-08
Singularities Of Robot Mechanisms written by Oriol Bohigas and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-09-08 with Technology & Engineering categories.
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.
Robot Mechanisms
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Author : Jadran Lenarcic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-06-12
Robot Mechanisms written by Jadran Lenarcic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-06-12 with Technology & Engineering categories.
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
Singular Configurations Of Mechanisms And Manipulators
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Author : Andreas Müller
language : en
Publisher: Springer
Release Date : 2019-02-19
Singular Configurations Of Mechanisms And Manipulators written by Andreas Müller and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-02-19 with Technology & Engineering categories.
The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.
Advanced Theory Of Constraint And Motion Analysis For Robot Mechanisms
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Author : Jingshan Zhao
language : en
Publisher: Academic Press
Release Date : 2013-11-22
Advanced Theory Of Constraint And Motion Analysis For Robot Mechanisms written by Jingshan Zhao and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-11-22 with Technology & Engineering categories.
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity. - Combines constraint and free motion analysis and design, offering a new approach to robot mechanism innovation and improvement - Clearly describes the use of screw theory in robot kinematic analysis, allowing for concise representation of motion and static forces when compared to conventional analysis methods - Includes worked examples to translate theory into practice and demonstrate the application of new analytical methods to critical robotics problems
Proceedings Of The 5th Ieee Iftomm International Conference On Reconfigurable Mechanisms And Robots
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Author : Fengfeng (Jeff) Xi
language : en
Publisher: ReMAR2021
Release Date : 2021-08-12
Proceedings Of The 5th Ieee Iftomm International Conference On Reconfigurable Mechanisms And Robots written by Fengfeng (Jeff) Xi and has been published by ReMAR2021 this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-12 with Technology & Engineering categories.
The 5th IEEE/IFToMM International Conference on Re-configurable Mechanisms and Robots (ReMAR 2021) was held in Toronto, Canada on August 12-14, 2021 at Ryerson University. The conference proceedings include more than 70 papers on three main subjects, 1) Reconfigurable Mechanisms and Robotics, 2) Variable Topology and Morphing Mechanism, and 3)Origami and Bio-inspired mechanisms.
Singularity Theory Dedicated To Jean Paul Brasselet On His 60th Birthday Proceedings Of The 2005 Marseille Singularity School And Conference
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Author : Jean-paul Brasselet
language : en
Publisher: World Scientific
Release Date : 2007-02-08
Singularity Theory Dedicated To Jean Paul Brasselet On His 60th Birthday Proceedings Of The 2005 Marseille Singularity School And Conference written by Jean-paul Brasselet and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-02-08 with Mathematics categories.
The Singularity School and Conference took place in Luminy, Marseille, from January 24th to February 25th 2005. More than 180 mathematicians from over 30 countries converged to discuss recent developments in singularity theory.The volume contains the elementary and advanced courses conducted by singularities specialists during the conference, general lectures on singularity theory, and lectures on applications of the theory to various domains. The subjects range from geometry and topology of singularities, through real and complex singularities, to applications of singularities.
Recent Advances In Robot Kinematics
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Author : Jadran Lenarčič
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Recent Advances In Robot Kinematics written by Jadran Lenarčič and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.
Mechanism Design For Robotics
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Author : Saïd Zeghloul
language : en
Publisher: Springer Nature
Release Date : 2021-05-08
Mechanism Design For Robotics written by Saïd Zeghloul and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-05-08 with Technology & Engineering categories.
This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23–25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.
Singularity Theory
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Author : Denis Cheniot
language : en
Publisher: World Scientific
Release Date : 2007
Singularity Theory written by Denis Cheniot and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with Mathematics categories.
The Singularity School and Conference took place in Luminy, Marseille, from January 24th to February 25th 2005. More than 180 mathematicians from over 30 countries converged to discuss recent developments in singularity theory. The volume contains the elementary and advanced courses conducted by singularities specialists during the conference, general lectures on singularity theory, and lectures on applications of the theory to various domains. The subjects range from geometry and topology of singularities, through real and complex singularities, to applications of singularities.
New Advances In Mechanisms Mechanical Transmissions And Robotics
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Author : Erwin-Christian Lovasz
language : en
Publisher: Springer Nature
Release Date : 2020-10-14
New Advances In Mechanisms Mechanical Transmissions And Robotics written by Erwin-Christian Lovasz and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-10-14 with Technology & Engineering categories.
This volume gathers the proceedings of the Joint International Conference of the XIII International Conference on Mechanisms and Mechanical Transmissions (MTM) and the XXIV International Conference on Robotics (Robotics), held in Timişoara, Romania. It addresses the applications of mechanisms and transmissions in several modern technical fields such as mechatronics, biomechanics, machines, micromachines, robotics and apparatus. In doing so, it combines theoretical findings and experimental testing. The book presents peer-reviewed papers written by researchers specialized in mechanism analysis and synthesis, dynamics of mechanisms and machines, mechanical transmissions, biomechanics, precision mechanics, mechatronics, micromechanisms and microactuators, computational and experimental methods, CAD in mechanism and machine design, mechanical design of robot architecture, parallel robots, mobile robots, micro and nano robots, sensors and actuators in robotics, intelligent control systems, biomedical engineering, teleoperation, haptics, and virtual reality.