Singular Configurations of Mechanisms and Manipulators
Editors: Müller, Andreas, Zlatanov, Dimiter (Eds.)
Free Preview- Offers a comprehensive and concise introduction to the problem of singularities in mechanical systems and robots, its mathematical origin, and its consequences for application
- Presents a unique arrangement covering contributions of the leading researchers in the field of singularities of robotic manipulators
- Provides a necessary complement to classical books on robot kinematics covering the singularity aspect of robot motion
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- About this book
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The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.
- Table of contents (5 chapters)
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Generalized Singularity Analysis
Pages 1-38
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Singularity Set Computation: A Hands-On Session with the CUIK Suite
Pages 39-65
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Cuspidal Robots
Pages 67-99
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Mechanism Constraints and Singularities—The Algebraic Formulation
Pages 101-180
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Local Investigation of Mobility and Singularities of Linkages
Pages 181-229
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Table of contents (5 chapters)
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Bibliographic Information
- Bibliographic Information
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- Book Title
- Singular Configurations of Mechanisms and Manipulators
- Editors
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- Andreas Müller
- Dimiter Zlatanov
- Series Title
- CISM International Centre for Mechanical Sciences
- Series Volume
- 589
- Copyright
- 2019
- Publisher
- Springer International Publishing
- Copyright Holder
- CISM International Centre for Mechanical Sciences
- eBook ISBN
- 978-3-030-05219-5
- DOI
- 10.1007/978-3-030-05219-5
- Hardcover ISBN
- 978-3-030-05218-8
- Series ISSN
- 0254-1971
- Edition Number
- 1
- Number of Pages
- IX, 229
- Number of Illustrations
- 62 b/w illustrations, 64 illustrations in colour
- Topics
*immediately available upon purchase as print book shipments may be delayed due to the COVID-19 crisis. ebook access is temporary and does not include ownership of the ebook. Only valid for books with an ebook version. Springer Reference Works are not included.
