Singularities of Robot Mechanisms Numerical Computation and Avoidance Path Planning /

• Κύριοι συγγραφείς: Bohigas, Oriol (Συγγραφέας), Manubens, Montserrat (Συγγραφέας), Ros, Lluís (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Cham : Springer International Publishing : Imprint: Springer, 2017.
• Σειρά: Mechanisms and Machine Science, 41
• Θέματα: 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...

Πίνακας περιεχομένων:

• 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. .