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Singular Configurations of Mechanisms and Manipulators

  • Book
  • © 2019

Overview

Editors:
  1. Andreas Müller

    1. Institute of Robotics, Johannes Kepler University Linz (JKU), Linz, Austria

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    You can also search for this editor in PubMed   Google Scholar

  2. Dimiter Zlatanov

    1. Department of Mechanical Engineering, University of Genoa, Genoa, Italy

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    You can also search for this editor in PubMed   Google Scholar

  • 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

Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 589)

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Table of contents (5 chapters)

  1. Front Matter

    Pages i-ix
    Download chapter PDF

  2. Generalized Singularity Analysis

    • Dimiter Zlatanov
    Pages 1-38

  3. Singularity Set Computation: A Hands-On Session with the CUIK Suite

    • Oriol Bohigas
    Pages 39-65

  4. Cuspidal Robots

    • Philippe Wenger
    Pages 67-99

  5. Mechanism Constraints and Singularities—The Algebraic Formulation

    • Manfred L. Husty, Dominic R. Walter
    Pages 101-180

  6. Local Investigation of Mobility and Singularities of Linkages

    • Andreas Müller
    Pages 181-229
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Keywords

About this book

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.

Editors and Affiliations

  • Institute of Robotics, Johannes Kepler University Linz (JKU), Linz, Austria

    Andreas Müller

  • Department of Mechanical Engineering, University of Genoa, Genoa, Italy

    Dimiter Zlatanov

Bibliographic Information

  • Book Title: Singular Configurations of Mechanisms and Manipulators

  • Editors: Andreas Müller, Dimiter Zlatanov

  • Series Title: CISM International Centre for Mechanical Sciences

  • DOI: https://doi.org/10.1007/978-3-030-05219-5

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: CISM International Centre for Mechanical Sciences 2019

  • Hardcover ISBN: 978-3-030-05218-8Published: 01 March 2019

  • eBook ISBN: 978-3-030-05219-5Published: 19 February 2019

  • Series ISSN: 0254-1971

  • Series E-ISSN: 2309-3706

  • Edition Number: 1

  • Number of Pages: IX, 229

  • Number of Illustrations: 62 b/w illustrations, 64 illustrations in colour

  • Topics: Mechanical Engineering, Robotics and Automation

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