Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J.

By Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)

This is the 5th ebook of the Kluwer's sequence Advances in robotic Kine­ matics. The publication provides the latest examine advances within the concept, layout, regulate and alertness of robot platforms, that are meant for numerous reasons corresponding to manipulation, manufactur­ ing, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep an eye on, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. equipment used comprise line geometry, quaternion algebra, screw alge­ bra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom structures. the implications may still curiosity researchers, academics and scholars, in fields of engineering and mathe­ matics relating to robotic conception, layout, keep watch over and alertness. every one contribution during this e-book were conscientiously reviewed via or 3 self sustaining reviewers and fifty three articles have been suggested for book. we're satisfied to watch that Advances in robotic Kine­ matics has continually attracted the main notable authors and has de­ veloped a impressive clinical neighborhood within the sector. Many vital and unique clinical effects have been for the 1st time mentioned and dis­ stubborn in those books. All articles during this publication have been additionally mentioned on the 8 overseas symposium on Advances in robotic Kinematics that was once organised in June 2002 in Caldes de Malavella in Spain.

Show description

Read or Download Advances in Robot Kinematics: Theory and Applications PDF

Similar theory books

Water Waves: The Mathematical Theory with Applications (Wiley Classics Library)

Deals an built-in account of the mathematical speculation of wave movement in drinks with a unfastened floor, subjected to gravitational and different forces. makes use of either capability and linear wave equation theories, including purposes equivalent to the Laplace and Fourier remodel equipment, conformal mapping and intricate variable innovations often or quintessential equations, tools utilising a Green's functionality.

Modular function spaces

This monograph offers a concise advent to the most effects and techniques of the mounted element idea in modular functionality areas. Modular functionality areas are ordinary generalizations of either functionality and series versions of many vital areas like Lebesgue, Orlicz, Musielak-Orlicz, Lorentz, Orlicz-Lorentz, Calderon-Lozanovskii areas, and others.

Extra resources for Advances in Robot Kinematics: Theory and Applications

Sample text

Note that two of the factors lead to a polynomial in the single variable (t 2 ) of order 64. 27759043. The four solutions for fJ determine exactly the axes of 3-fold rotation symmetry of the octahedron. 27759043 about the axis of 3-fold rotation symmetry. 27759043. In this case, two of the factors lead to univariate (t,) polynomial of order 20. The obtained result implies that the value of the quality index is smaller when translating from the central position. 23455336. 2 Rotation Axes in a Plane of Reflection Symmetry In this case, the axes of rotation of the moving octahedron pass through the origin and lie in a plane of reflection symmetry that passes through two vertices and cuts an edge at its midpoint (FigAa).

Advances in Robot Kinematics, 39-48. © 2002 Kluwer Academic Publishers. 40 bolically. However, the drawback of such a method is that the differentiations have to be done for each manipulator separately, and that redundant algebraic manipulations and arithmetic operations are unavoidable. In this paper, we derive, in closed form, the required relations in terms of other usually available entities, such as the robot Jacobian, its time derivative, the angular velocity, and the translational velocity.

Conclusions Three novel indices for the dynamic performance characterization of 3dof parallel manipulators have been presented. e. the manipulator capability to accelerate its end-effector. Since the indices can be expressed as functions of the parameters that define the end-effector pose, the inertia, and the geometry of the links, a simple design procedure is presented for sizing a 3-dof manipulator so that it fulfills given dynamic requirements. The method and the results obtained can be easily extended to any other type of 3-dof manipulator (serial and hybrid).

Download PDF sample

Rated 4.11 of 5 – based on 43 votes