Singular Configurations of Mechanisms and Manipulators

• Corporate Author: SpringerLink (Online service)
• Other Authors: Müller, Andreas (Editor, http://id.loc.gov/vocabulary/relators/edt), Zlatanov, Dimiter (Editor, http://id.loc.gov/vocabulary/relators/edt)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2019.
• Edition: 1st ed. 2019.
• Series: CISM International Centre for Mechanical Sciences, Courses and Lectures, 589
• Subjects: Mechanical engineering.; Robotics.; Automation.; Mechanical Engineering.; Robotics and Automation.

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.

Table of Contents:

• Generalized Singularity Analysis
• Singularity Set Computation: A Hands-On Introduction with the CUIK Suite
• Cuspidal Robots
• Mechanism Constraints and Singularities- The Algebraic Formulation
• Local Investigation of Mobility and Singularities of Linkages.