By Oriol Bohigas,Montserrat Manubens,Lluís Ros
This e-book provides the singular configurations linked to a robotic mechanism, including strong tools for his or her computation, interpretation, and avoidance direction making plans. Having such tools is key as singularities in most cases pose difficulties to the conventional operation of a robotic, but additionally confirm the workspaces and movement impediments of its underlying mechanical constitution. a particular function of this quantity is that the tools are acceptable to nonredundant mechanisms of basic structure, outlined by means of planar or spatial kinematic chains interconnected in an arbitrary manner. in addition, singularities are interpreted as silhouettes of the configuration house whilst visible from the enter or output areas. This results in a robust picture that explains the implications of traversing singular configurations, and the entire wealthy info that may be extracted from them. the issues are solved by way of potent branch-and-prune and numerical continuation equipment which are of autonomous curiosity in themselves. the speculation could be placed into perform besides: a better half online page offers open entry to implementations of the algorithms and the corresponding enter documents. utilizing them, the reader can achieve hands-on adventure at the subject, or examine new mechanisms past these tested within the textual content. total, the booklet contributes new instruments for robotic layout, and constitutes a unmarried reference resource of data that's in a different way dispersed within the literature.
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