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.
Автор: Pankaj S Joshi Название: Gravitational Collapse and Spacetime Singularities ISBN: 110740536X ISBN-13(EAN): 9781107405363 Издательство: Cambridge Academ Рейтинг: Цена: 8554.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: Investigating the issues involved in gravitational collapse, this book includes a detailed review of recent research into the subject, and several examples of collapse models are investigated in detail. It will be of interest to graduate students and academic researchers in gravitation physics, fundamental physics, astrophysics, and cosmology.
Автор: Brasselet Jean-Paul Название: Singularities ISBN: 0521466318 ISBN-13(EAN): 9780521466318 Издательство: Cambridge Academ Рейтинг: Цена: 8710.00 р. Наличие на складе: Есть у поставщика Поставка под заказ.
Описание: This book contains papers given at the International Singularity Conference held in 1991 at Lille. Research workers in singularity theory or related subjects will find that this book contains a wealth of valuable information.
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