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Robot Mechanisms

Robot Mechanisms
Kataloginformation
Feldname Details
Vorliegende Sprache eng
Hinweise auf parallele Ausgaben 38149487X Buchausg. u.d.T.: ‡Lenarčič, Jadran: Robot mechanisms
ISBN 978-94-007-4521-6
Name Lenarčič, Jadran
Bajd, Tadej
ANZEIGE DER KETTE Bajd, Tadej
Name Stanišić, Michael M.
T I T E L Robot Mechanisms
Verlagsort Dordrecht
Verlag Springer Netherlands
Erscheinungsjahr 2013
2013
Umfang Online-Ressource (XIV, 333 p. 171 illus, digital)
Reihe Intelligent Systems, Control and Automation: Science and Engineering ; 60
Notiz / Fußnoten Description based upon print version of record
Weiterer Inhalt Robot Mechanisms; Foreword; Preface; Contents; Chapter 1: Kinematics of Rigid Bodies; 1.1 Position and Displacement of a Point; 1.1.1 The Function arctan2; 1.1.2 Points in Cartesian Coordinates; 1.1.3 Points in Cylindrical Coordinates; 1.1.4 Points in Spherical Coordinates; 1.2 Pose and Displacement of a Body; 1.2.1 Pose of a Body; 1.2.2 Finite Displacement of a Body; 1.2.3 Continuous Displacement of a Body; 1.3 Operations in Vector Space; 1.3.1 Rotation Matrix; 1.3.2 Translation Vector; 1.4 Sequences of Translations and Rotations; 1.4.1 Rotation Before Translation. 1.4.2 Translation Before Rotation1.4.3 Two Rotations; 1.5 Position and Orientation of a Body; 1.5.1 Rotation Angle and Vector; 1.5.2 The Angles Between Pairs of Coordinate Axes; 1.5.3 Euler Orientation Angles; 1.5.4 Orientation Angles YPR; 1.5.5 Invariants of Rotation Matrices; 1.6 Linear and Angular Velocity of a Body; 1.6.1 Rotation Before Translation; 1.6.2 Translation Before Rotation; 1.6.3 Angular Velocity and Time Derivatives of the Euler Angles; 1.6.4 Angular Velocity and Time Derivatives of the YPR Angles; 1.7 Linear and Angular Acceleration of a Body. 1.7.1 Rotation Before Translation1.7.2 Translation Before Rotation; 1.7.3 Angular Acceleration and Time Derivatives of the Euler Angles; 1.7.4 Angular Acceleration and Time Derivatives of the YPR Angles; 1.8 Homogeneous Transformations; 1.8.1 Rotation Before Translation; 1.8.2 Translation Before Rotation; 1.8.3 Characteristics of a Planar Motion; Chapter 2: Mechanisms; 2.1 Joints and Degrees of Freedom; 2.1.1 Types of Joints; 2.1.2 Types of Mechanisms; 2.1.3 Degrees of Freedom in Mechanisms; 2.2 Parameters and Variables of a Kinematic Pair; 2.2.1 Cylindrical Joint in a Cartesian Space. 2.2.2 Scalar Parameters of a Kinematic Pair2.2.3 Vector Parameters of a Kinematic Pair; 2.3 Parameters and Variables of a Mechanism; 2.3.1 Denavit and Hartenberg Parameters of a Mechanism; 2.3.2 Vector Parameters of a Mechanism; Chapter 3: Serial Mechanisms; 3.1 Kinematic Equations; 3.1.1 Orientation and Position of a Mechanism; 3.1.2 Angular and Translational Velocities of a Mechanism; 3.1.3 Angular and Translational Accelerations of a Mechanism; 3.2 Direct Kinematics; 3.2.1 Equations of Direct Kinematics; 3.2.2 Jacobian Matrix; 3.2.3 Hessian Matrix; 3.3 Inverse Kinematics. 3.3.1 Algebraic Solutions to the Inverse Kinematics Problem3.3.2 Numerical Solutions to the Inverse Kinematics Problem; 3.4 Serial Mechanisms with Fixed Rotational Axes; Chapter 4: Evaluation of Mechanisms; 4.1 Workspaces; 4.1.1 Reachable Workspace; 4.1.2 Determination of Reachable Workspace Based on Direct Kinematics; 4.1.3 Determination of Reachable Workspace Based on Inverse Kinematics; 4.1.4 Dexterous Workspace; 4.1.5 Selection of Mechanism with a Desired Workspace; 4.2 Kinematic Flexibility and Kinematic Singularity; 4.2.1 Kinematic Flexibility; 4.2.2 Kinematic Singularity. 4.3 Manipulability and Kinematic Index
Titelhinweis Buchausg. u.d.T.: ‡Lenarčič, Jadran: Robot mechanisms
ISBN ISBN 978-94-007-4522-3
Klassifikation TJFM1
TEC037000
TEC004000
*70-02
70B15
93C85
93C95
68T40
629.892
TJ210.2-211.495
T59.5
Kurzbeschreibung 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.
SWB-Titel-Idn 373360843
Signatur Springer E-Book
Bemerkungen Elektronischer Volltext - Campuslizenz
Elektronische Adresse $uhttp://dx.doi.org/10.1007/978-94-007-4522-3
Internetseite / Link Volltext
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Siehe auch Cover
Siehe auch Inhaltstext
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