Advances in Robot Kinematics and Computational Geometry
Editors: Lenarčič, Jadran, Ravani, Bahram (Eds.)
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- About this book
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Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.
- Table of contents (51 chapters)
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Computational Advances in Robot Kinematics
Pages 7-16
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Characterizing the Workspace of the Spherical Image of Cooperating Robots
Pages 19-28
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On the Kinematics of Nonsingular and Singular Posture Changing Manipulators
Pages 29-38
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Determination of the Workspace Boundary of a General n-Revolute Manipulator
Pages 39-48
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Local Pictures for General Two-parameter Planar Motions
Pages 49-58
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Table of contents (51 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Advances in Robot Kinematics and Computational Geometry
- Editors
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- Jadran Lenarčič
- Bahram Ravani
- Copyright
- 1994
- Publisher
- Springer Netherlands
- Copyright Holder
- Springer Science+Business Media Dordrecht
- eBook ISBN
- 978-94-015-8348-0
- DOI
- 10.1007/978-94-015-8348-0
- Hardcover ISBN
- 978-0-7923-2983-1
- Softcover ISBN
- 978-90-481-4434-1
- Edition Number
- 1
- Number of Pages
- VI, 514
- Topics
