| 书目名称 | Singularities of Robot Mechanisms |
| 副标题 | Numerical Computatio |
| 编辑 | Oriol Bohigas,Montserrat Manubens,Lluís Ros |
| 视频video | |
| 概述 | Presents mechanism singularities, with powerful numerical methods for their computation and avoidance in the general architecture case, solving two open, long-standing problems of robot kinematics.Too |
| 丛书名称 | Mechanisms and Machine Science |
| 图书封面 |  |
| 描述 | .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 r |
| 出版日期 | Book 2017 |
| 关键词 | Branch-and-prune Method; Higher-dimensional Continuation; Numerical Computation; Robot Kinematics; Singu |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-32922-2 |
| isbn_softcover | 978-3-319-81399-8 |
| isbn_ebook | 978-3-319-32922-2Series ISSN 2211-0984 Series E-ISSN 2211-0992 |
| issn_series | 2211-0984 |
| copyright | Springer International Publishing AG, part of Springer Nature 2017 |
发表于 2025-3-21 18:16:38
