Singularities of robot mechanisms : numerical computation and avoidance path planning

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...

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Bibliographic Details
Main Author: Bohigas, Oriol.
Other Authors: Manubens, Montserrat., Ros, Lluís.
Format: eBook
Language: English
Published: Switzerland : Springer, ©2017.
Series: Mechanisms and machine science ; v. 41.
Subjects:
robotika
kinematika
roboty
robotics
kinematics
robots
elektronické knihy
monografie
electronic books
monographs
ISBN: 9783319329222
9783319329208
Physical Description: 1 online resource : illustrations

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Table of contents

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072 7 |a 007  |x Teorie systémů. Automatické systémy. Informační systémy. Kybernetika  |2 Konspekt  |9 23 
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100 1 |a Bohigas, Oriol. 
245 1 0 |a Singularities of robot mechanisms :  |b numerical computation and avoidance path planning /  |c Oriol Bohigas, Montserrat Manubens, Lluis Ros. 
260 |a Switzerland :  |b Springer,  |c ©2017. 
300 |a 1 online resource :  |b illustrations 
336 |a text  |b txt  |2 rdacontent 
337 |a počítač  |b c  |2 rdamedia 
338 |a online zdroj  |b cr  |2 rdacarrier 
490 1 |a Mechanisms and Machine Science ;  |v volume 41 
504 |a Includes bibliographical references and indexes. 
506 |a Plný text je dostupný pouze z IP adres počítačů Univerzity Tomáše Bati ve Zlíně nebo vzdáleným přístupem pro zaměstnance a studenty 
520 |a 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 reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.- Resumé vydavatel 
590 |a SpringerLink  |b Springer Complete eBooks 
650 0 7 |a robotika  |7 ph125173  |2 czenas 
650 0 7 |a kinematika  |7 ph121580  |2 czenas 
650 0 7 |a roboty  |7 ph402600  |2 czenas 
650 0 9 |a robotics  |2 eczenas 
650 0 9 |a kinematics  |2 eczenas 
650 0 9 |a robots  |2 eczenas 
655 7 |a elektronické knihy  |7 fd186907  |2 czenas 
655 7 |a monografie  |7 fd132842   |2 czenas 
655 9 |a electronic books  |2 eczenas 
655 9 |a monographs  |2 eczenas 
700 1 |a Manubens, Montserrat. 
700 1 |a Ros, Lluís. 
776 0 8 |i Print version:  |a Bohigas, Oriol.  |t Singularities of robot mechanisms.  |d Switzerland : Springer, ©2017  |z 3319329200  |z 9783319329208  |w (OCoLC)945231342 
830 0 |a Mechanisms and machine science ;  |v v. 41. 
856 4 0 |u https://proxy.k.utb.cz/login?url=https://link.springer.com/10.1007/978-3-319-32922-2  |y Plný text 
942 |2 udc 
992 |c NTK-SpringerENG 

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