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Solid Mechanics and Its Applications

Computational Kinematics

Editors: Angeles, J., Hommel, Günter, Kovács, Peter (Eds.)

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Hardcover $249.00
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About this book

The aim of this book is to provide an account of the state of the art in Com­ putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer­ ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori­ ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question­ s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen­ tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu­ tions, and the question as to the number of solutions to expect still remains.

Table of contents (27 chapters)

  • Computations in Kinematics

    Roth, Bernard

    Pages 3-14

  • Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem

    Ghazvini, Masoud

    Pages 15-26

  • On the Tangent-Half-Angle Substitution

    Kovács, Peter (et al.)

    Pages 27-39

  • Resultant Methods for the Inverse Kinematics Problem

    Weiss, Jürgen

    Pages 41-52

  • Redundancy Resolution for an Eight-Axis Manipulator

    Heiß, H.

    Pages 55-66

Buy this book

eBook $189.00
price for USA
  • ISBN 978-94-015-8192-9
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $249.00
price for USA
  • ISBN 978-0-7923-2585-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $249.00
price for USA
  • ISBN 978-90-481-4342-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Computational Kinematics
Editors
  • J. Angeles
  • Günter Hommel
  • Peter Kovács
Series Title
Solid Mechanics and Its Applications
Series Volume
28
Copyright
1993
Publisher
Springer Netherlands
Copyright Holder
Springer Science+Business Media Dordrecht
eBook ISBN
978-94-015-8192-9
DOI
10.1007/978-94-015-8192-9
Hardcover ISBN
978-0-7923-2585-7
Softcover ISBN
978-90-481-4342-9
Series ISSN
0925-0042
Edition Number
1
Number of Pages
X, 310
Topics