Singularities of Robot Mechanisms Numerical Computation and Avoidance Path Planning /

• Main Authors: Bohigas, Oriol (Author), Manubens, Montserrat (Author), Ros, Lluís (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Cham : Springer International Publishing : Imprint: Springer, 2017.
• Series: Mechanisms and Machine Science, 41
• Subjects: Engineering.; Numerical analysis.; Applied mathematics.; Engineering mathematics.; Vibration.; Dynamical systems.; Dynamics.; Robotics.; Automation.; Robotics and Automation.; Vibration, Dynamical Systems, Control.; Numerical Analysis.; Appl.Mathematics/Computational Methods of Engineering.

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 de...