Computational Kinematics
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Computational Kinematics: (28 Solid Mechanics and Its Applications)

Computational Kinematics: (28 Solid Mechanics and Its Applications)

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About the Book

This volume provides a state of the art account of developments in computational kinematics. Included are both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and the information is collated logically into six parts describing the main themes: (i) kinematic algorithms, whereby general kinematic problems are discussed in light of their solution algorithms; (ii) redundant manipulators; (iii) kinematic and dynamic control in which the link between kinematics and the disciplines of dynamics and control is highlighted; (iv) parallel manipulators; (v) motion planning, touching on computational geometry; (vi) kinematics of mechanisms describing the closed kinematic chains. The volume contains a representative sample of the most modern techniques available for kinematics problems, including some novel techniques described for the first time in a book. It will be of interest to researchers, graduate students and practising engineers engaged in work relating to kinematics, robotics, machine design and computer science.

Table of Contents:
1 Kinematics Algorithms.- 1.1 Computations in Kinematics.- 1.2 Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem.- 1.3 On the Tangent-Half-Angle Substitution.- 1.4 Resultant Methods for the Inverse Kinematics Problem.- 2 Redundant Manipulators.- 2.1 Redundancy Resolution for an Eight-Axis Manipulator.- 2.2 A Mixed Numeric and Symbolic Approach to Redundant Manipulators.- 2.3 Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators.- 2.4 On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators.- 2.5 The Self-Motion Manifolds of the N-Bar Mechanism.- 3 Kinematic and Dynamic Control.- 3.1 Feedforward Torque Computations with the Aid of Maple V.- 3.2 Nonlinear Control of Constrained Redundant Manipulators.- 3.3 Analysis of Mechanisms by the Dual Inertia Operator.- 4 Parallel Manipulators.- 4.1 Direct Kinematics in Analytical Form of a General Geometry 5–4 Fully-Parallel Manipulator.- 4.2 The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators.- 4.3 The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators.- 4.4 On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators.- 4.5 Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators.- 5 Motion Planning.- 5.1 Singularity Control for Simple Manipulators using ‘PathEnergy’.- 5.2 An Investigation of Path Tracking Singularities for Planar 2R Manipulators.- 5.3 Robot Motions with Trajectory Interpolation and Overcorrection.- 5.4 Computational Geometry and Motion Approximation.- 6 Kinematics of Mechanisms.- 6.1 Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator.- 6.2 AnalyticalDetermination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages.- 6.3 On Closed Form Solutions of Multiple-Loop Mechanisms.- 6.4 A Modular Method for Computational Kinematics.- 6.5 Synthesis for Rigid Body Guidance Using Polynomials.- 6.6 Designing Mechanisms for Workspace Fit.


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Product Details
  • ISBN-13: 9789048143429
  • Publisher: Springer
  • Publisher Imprint: Springer
  • Height: 235 mm
  • No of Pages: 310
  • Returnable: N
  • Width: 155 mm
  • ISBN-10: 904814342X
  • Publisher Date: 15 Dec 2010
  • Binding: Paperback
  • Language: English
  • Returnable: N
  • Series Title: 28 Solid Mechanics and Its Applications


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