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Intelligent Systems, Control and Automation: Science and Eng #60: Robot Mechanisms

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Intelligent Systems, Control and Automation: Science and Eng #60: Robot Mechanisms Cover

 

Synopses & Reviews

Publisher Comments:

This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Synopsis:

This comprehensive introduction to robot mechanisms balances theoretical and practical aspects in the development and application of robot mechanisms, and surveys current achievements and trends. Includes coverage of industrial manipulators and humanoid arms.

Table of Contents

Preface 1 Kinematics of Rigid Bodies 1.1 Position and Displacement of a Point 1.2 Pose and Displacement of a Body 1.3 Operations in Vector Space 1.4 Sequences of Translations and Rotations 1.5 Position and Orientation of a Body 1.6 Linear and Angular Velocity of a Body 1.7 Linear and Angular Acceleration of a Body 1.8 Homogenous Transformations 2 Mechanisms 2.1 Joints and Degrees of Freedom 2.2 Parameters and Variables of a Kinematic Pair 2.3 Parameters and Variables of a Mechanism 3 Serial Mechanisms 3.1 Kinematic Equations 3.2 Direct Kinematics 3.3 Inverse Kinematics 3.4 Serial Mechanisms with Fixed Rotational Axes 4 Evaluation of Mechanisms 4.1 Workspaces 4.2 Kinematic Flexibility and Kinematic Singularity 4.3 Manipulability and Kinematic Index 5 Singular Planes and Dextrous Robot Mechanisms 5.1 Decoupled Singularities of Robots with Spherical Wrists 5.2 Singularities of Serial Robot Arms 5.3 Singularities of Spherical Wrists 5.4 Singularity Metrics of Industrial Robots 5.5 Singularity Free Pointing Systems 6 Redundant Mechanisms 6.1 Independent Solution of Primary and Secondary Tasks 6.2 Combined Solution of Primary and Secondary Tasks 6.3 Use of Kinematic Redundancy 7 Parallel Mechanisms 7.1 Characteristics of Parallel Mechanisms 7.2 Connectivity of Legs and Degrees of Freedom 7.3 Kinematic Equations 7.4 Some Examples of Parallel Mechanisms 8 Robot Contact 8.1 Screw Systems 8.2 Basic Contacts 8.3 Contact Models 9 Robot Grasp 9.1 Robot Grasp with two Fingers 9.2 Robot Grasp with Multiple Fingers 9.3 Grasp Matrix 10 Kinematic Model of the Human Hand 10.1 Kinematic Model of the Finger 10.2 Inverse Kinematics of the Finger 10.3 Kinematic Model of the Thumb 10.4 Inverse Kinematics of the Thumb 10.5 Thumb and Fingers Pose with Respect to Palm Index References

Product Details

ISBN:
9789400745216
Author:
Lenar I., Jadran
Publisher:
Springer
Author:
Bajd, Tadej
Author:
Stanišić, Michael
Author:
Lenarcic, Jadran
Author:
Stanisic, Michael M.
Subject:
Robotics
Subject:
Parallel robots
Subject:
Robot Grip
Subject:
Robot kinematics
Subject:
Robot Mechanisms
Subject:
Serial Robots
Subject:
Robotics and Automation
Subject:
APPLICATIONS OF MATHEMATICS
Subject:
Mechanics
Subject:
Mathematics-Applied
Copyright:
Edition Description:
2012
Series:
Intelligent Systems, Control and Automation: Science and Engineering
Series Volume:
60
Publication Date:
20120801
Binding:
HARDCOVER
Language:
English
Pages:
347
Dimensions:
235 x 155 mm

Related Subjects

Computers and Internet » Artificial Intelligence » Robotics
Reference » Science Reference » Philosophy of Science
Science and Mathematics » Mathematics » Applied
Science and Mathematics » Physics » Classical Mechanics

Intelligent Systems, Control and Automation: Science and Eng #60: Robot Mechanisms New Hardcover
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$108.50 In Stock
Product details 347 pages Springer - English 9789400745216 Reviews:
"Synopsis" by , This comprehensive introduction to robot mechanisms balances theoretical and practical aspects in the development and application of robot mechanisms, and surveys current achievements and trends. Includes coverage of industrial manipulators and humanoid arms.
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