Oriol Bohigas Singularities Of Robot Mechanisms: Numerical Computation And Avoidance Path Planning 9783319329208

Варианты приобретения

Цена: 16769.00р.
Кол-во:
Наличие: Поставка под заказ. Есть в наличии на складе поставщика.
Склад Америка: Есть
При оформлении заказа до: 2025-07-28
Ориентировочная дата поставки: Август-начало Сентября
При условии наличия книги у поставщика.

Добавить в корзину

в Мои желания

Автор: Oriol Bohigas
Название: Singularities Of Robot Mechanisms: Numerical Computation And Avoidance Path Planning
ISBN: 9783319329208
Издательство: Springer
Классификация:

ISBN-10: 3319329200
Обложка/Формат: Hardback
Страницы: 200
Вес: 0.48 кг.
Дата издания: 09.09.2016
Серия: Mechanisms and machine science
Язык: English
Издание: 1st ed. 2017
Иллюстрации: 64 illustrations, color; 29 illustrations, black and white; xxi, 184 p. 93 illus., 64 illus. in color.
Размер: 234 x 156 x 13
Читательская аудитория: General (us: trade)
Подзаголовок: Numerical computation and avoidance path planning
Ссылка на Издательство: Link
Рейтинг:
Поставляется из: Германии
Описание: 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.
Дополнительное описание: 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-lev

Singularities Of Robot Mechanisms: Numerical Computation And Avoidance Path Planning, Oriol Bohigas