Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič,'s Advances in Robot Kinematics: Analysis and Design PDF

Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič,'s Advances in Robot Kinematics: Analysis and Design PDF

By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

ISBN-10: 1402085990

ISBN-13: 9781402085994

ISBN-10: 1402086008

ISBN-13: 9781402086007

This booklet offers the newest learn advances within the concept, layout, keep watch over and alertness of robotic structures, that are meant for quite a few reasons akin to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength regulate, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained structures. tools used contain line geometry, quaternion algebra, screw algebra and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom systems.

The publication contains forty eight independently reviewed papers of researchers specialising in robotic kinematics. The participants are the main regarded scientists during this sector. The papers were subdivided into the subsequent sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and homes of mechanisms, degree and calibration, Kinematic research and workspace.

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Additional info for Advances in Robot Kinematics: Analysis and Design

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This representation has the great advantage of reducing the group composition to the geometric product. The screw axes (lines) of the joints can be expressed in the geometric algebra as follows: any oriented line L is uniquely determined by given its direction u and its moment m and in the geometric algebra G3 of 3-D vector space V 3 with the basis {e1 , e2 , e3 } it can be written as (Hestenes, 1999): L = u+m (6) ≡ u + r ∧ u = u1 e1 + u2 e2 + u3 e3 + m1 e2 ∧ e3 + m2 e3 ∧ e1 + m3 e1 ∧ e2 , where r is the position vector of a point on the line; ui (i = 1, 2, 3) and mi (i = 1, 2, 3) are scalar coefficients.

Planes and one line; (e) one tetrahedron and four lines; (f) two tetrahedrons and two lines; and (g) three tetrahedrons. To avoid the non-multilinearity problem, the order of searching is as follows: 1. The first entities to be searched are the tetrahedrons. These are searched as common brackets (having the four points of the tetrahedron) in all the monomials. If the equation has more than one monomial, then it is searched if there is a common bracket appearing in all the monomials. If such a bracket exists, then the tetrahedron recognition is done, and the remaining equation continues the search procedure.

7). In many cases it is not necessary to use the straightening algorithm to verify this condition. For the cases in which it would be necessary, unfortunately we cannot use this algorithm because of the non-multilinearity of the expressions. Therefore in these cases the points that remain without being identified to any entity are left in parentheses and are treated as follows. If three planes were already identified then the residual letters will be treated as possible part of a fourth plane (case c).

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Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)


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