Advances in Robot Kinematics: Analysis and Control

ISBN-13: 9789048150663 / Angielski / Miękka / 2010 / 582 str.

Jadran Lenarcic; Manfred L. Husty

Opis

The book presents the state of the art and recent advances in the area of kinematics of robots and mechanisms. It consists of about fifty outstanding contributions dedicated to various aspects of kinematic modelling and control, emphasising in particular the kinematic performances of robots and mechanisms, workspace and trajectory analysis, numerical and symbolic computational methods and algorithms, analysis, simulation and optimisation. The book is of interest to researchers, graduate students, and engineers specialising in the kinematics of robots and mechanisms. It should also be of interest to those engaged in work relating to kinematic chains, mechatronics, mechanism design, biomechanics and intelligent systems.

Spis treści

1. Plenary. 2. Kinematics of Parallel Robots. 3. Direct Analysis and Design of Parallel Robots. 4. Control and Design. 5. Basic Kinematics, Application of Screw Theory. 6. Special Methods in Kinematic Analysis. 7. Isotropy versus Singularity. 8. Biorobotics. Author Index. Subject Index.