Advances in Robot Kinematics and Computational Geometry / Edition 1

Advances in Robot Kinematics and Computational Geometry / Edition 1

by Jadran Lenar?i?, Bahram Ravani
     
 

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ISBN-10: 9048144345

ISBN-13: 9789048144341

Pub. Date: 12/09/2010

Publisher: Springer Netherlands

This book presents recent advances in robot kinematics and computational geometry in kinematics. More than fifty contributions report the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and discover analytical tools for understanding

Overview

This book presents recent advances in robot kinematics and computational geometry in kinematics. More than fifty contributions report the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and discover analytical tools for understanding and evaluating motion properties of various mechanisms used in a robotic system. The book is divided into twelve sections, identified as the prevalent areas of contemporary research in kinematics and computational geometry as applied to robots and mechanisms. They include the following topics: workspace and trajectory analysis, computational geometry in kinematics, kinematic errors and calibration, kinematics of mobile robots, kinematic performance, kinematics in control, force and elasticity analysis, inverse kinematics, kinematic design, kinematic analysis, parallel manipulators, as well as task and motion planning.
The book is of interest to researchers, graduate students, mathematicians and engineers specialising in kinematics of robots and mechanisms in the area of mathematical modelling, design, control, and simulation.

Product Details

ISBN-13:
9789048144341
Publisher:
Springer Netherlands
Publication date:
12/09/2010
Edition description:
Softcover reprint of hardcover 1st ed. 1994
Pages:
514
Product dimensions:
6.14(w) x 9.21(h) x 1.05(d)

Table of Contents

Introduction. 1. Workspace and Trajectory Analysis. 2. Computational Geometry in Kinematics. 3. Kinematic Errors and Calibration. 4. Kinematics of Mobile Robots. 5. Kinematic Performance. 6. Kinematics in Control. 7. Force and Elasticity Analysis. 8. Inverse Kinematics. 9. Kinematic Design. 10. Kinematic Analysis. 11. Parallel Manipulators. 12. Task and Motion Planning. Author Index.

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