Overview
- Editors:
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Jadran Lenarčič
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“Jozef Stefan” Institute, University of Ljubljana, Slovenia
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Bahram Ravani
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University of California, Davis, USA
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About this book
Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find 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 to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.
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Table of contents (51 chapters)
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Kinematics of Mobile Robots
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- F. Demick Boyden, Steven A. Velinsky
Pages 151-160
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Kinematic Performance
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Front Matter
Pages 179-179
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- J. Rastegar, S. Z. Zhang, K. Kazerounian
Pages 191-200
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- Benyoucef Imçaoudene, Clément M. Gosselin
Pages 201-208
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- N. P. Belfiore, E. Pennestrì
Pages 209-218
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Kinematics in Control
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Front Matter
Pages 219-219
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- Kyong-Sok Chang, Oussama Khatib
Pages 221-228
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- S. J. Lorenc, M. M. Stanišić
Pages 229-238
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- Frédéric Boyer, Philippe Coiffet
Pages 239-248
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- A. Ait Mohamed, C. Chevallereau
Pages 249-258
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Force and Elasticity Analysis
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Front Matter
Pages 259-259
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- Yann Bouffard-Vercelli, Pierre Dauchez, François Pierrot
Pages 271-280
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Inverse Kinematics
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Front Matter
Pages 289-289
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- Federico Thomas, Carme Torras
Pages 291-300
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Editors and Affiliations
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“Jozef Stefan” Institute, University of Ljubljana, Slovenia
Jadran Lenarčič
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University of California, Davis, USA
Bahram Ravani