Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. PDF

By Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)

ISBN-10: 9048160545

ISBN-13: 9789048160549

ISBN-10: 9401706573

ISBN-13: 9789401706575

This is the 5th e-book of the Kluwer's sequence Advances in robotic Kine­ matics. The ebook provides the newest study advances within the concept, layout, regulate and alertness of robot structures, that are meant for a number of reasons reminiscent of manipulation, manufactur­ ing, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep watch over, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. tools used contain line geometry, quaternion algebra, screw alge­ bra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom structures. the implications should still curiosity researchers, academics and scholars, in fields of engineering and mathe­ matics with regards to robotic idea, layout, keep an eye on and alertness. each one contribution during this booklet were conscientiously reviewed via or 3 self reliant reviewers and fifty three articles have been suggested for book. we're chuffed to watch that Advances in robotic Kine­ matics has constantly attracted the main extraordinary authors and has de­ veloped a extraordinary medical group within the region. Many very important and unique clinical effects have been for the 1st time said and dis­ stubborn in those books. All articles during this booklet have been additionally pronounced on the 8 overseas symposium on Advances in robotic Kinematics that used to be organised in June 2002 in Caldes de Malavella in Spain.

Show description

Read Online or Download Advances in Robot Kinematics: Theory and Applications PDF

Best theory books

Download PDF by Peter Rollins: How (Not) to Speak of God

With sensitivity to the Christian culture and a wealthy realizing of postmodern concept, Peter Rollins argues that the move referred to as the “emerging church” bargains a unique, unparalleled message of transformation that has the capability to revolutionize the theological and ethical structure of Western Christianity.

The Plateau Problem, Part II: Present State of the Theory - download pdf or read online

Charting the old origins of thr Plateau challenge, the writer discusses large extracts from 18th, nineteenth and early twentieth century works dedicated to the research of minimum surfaces, together with Plateau's recognized actual experiments. The theories of homology and co-homology, worthy for an realizing of recent multi-dimensional variational difficulties, are elucidated.

Virtual Astrophysical Jets: Theory Versus Observations - download pdf or read online

Those court cases are the results of a three-day assembly held in Oogliani (Italy), on October 2-4 2003, whose name was once "VIrtual Astrophysical Jets 2003". Our objective in convening this assembly was once to assemble a few of the scientists one of the such a lot energetic within the box of numerical simulations and modelling of astrophysi­ cal jets.

Additional info for Advances in Robot Kinematics: Theory and Applications

Example text

For a rigid body, these variables can be the three components of the velocity vector of a landmark point and those of the angular-velocity vector of the body. Both vectors are expressed in the same reference frame, whether inertial or not. If the body is flexible, the twist is augmented by a set of generalized velocities representing the body deformation rate. , a frame attached to the body, with its origin located at the above-mentioned landmark point. The twist is usually defined as an array comprising the components of the absolute velocities, both translational and angular, expressed in the local frame.

This fact can be seen on all the type maps; however, as they take other values than zero for dl and d2, their structure becomes more complex. = = 54 p Figure 5. Type maps for the cases with a = rc/4 indicated on Fig. 2. As dl and d2 approach the limits of Fig. 2, the fringe of RR widens and, also, the space between it and the CC area is occupied by a 1t1t area. Simultaneously, the optimal CC and 1tO zones become smaller and also separated by the 1t1t type. In conclusion, the performance of the 55 mechanism is worse because there is less CC and nO areas and, in addition, they are not connected.

Figure 4. 75 .. B X-axis [m] 6. 65 '1.. q.. 2 I~ ~q,. > 'Ie 'I.. 6 . . 6 "'.. 2 X-axis [m] Contour stiffness maps for three arrangements of the Z actuator. Tolerance Consideration In practice, it may be difficult to fabricate and assemble a perfect orthogonal frame. In this section, we illustrate a method for compensating manufacturing and assembling errors of the linear actuators by one example. 8 about the Z axis, and the other actuators are mounted perfectly along the Y and Z axes as shown in Fig.

Download PDF sample

Advances in Robot Kinematics: Theory and Applications by Gang Shen, Yukio Takeda, Hiroaki Funabashi (auth.), J. Lenarčič, F. Thomas (eds.)

by Mark

Rated 4.26 of 5 – based on 17 votes