Singular Configurations of Mechanisms and Manipulators

1. Auflage 2019
ISBN: 978-3-030-05218-8
Verlag: Springer International Publishing

Buch, Englisch, Band 589, 229 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 530 g

Reihe: CISM International Centre for Mechanical Sciences

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

Zielgruppe

Research

Autoren/Hrsg.

Zlatanov, Dimiter

Müller, Andreas

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik
• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

Generalized Singularity Analysis.- Singularity Set Computation: A Hands-On Introduction with the CUIK Suite.- Cuspidal Robots.- Mechanism Constraints and Singularities- The Algebraic Formulation.- Local Investigation of Mobility and Singularities of Linkages.