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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Inverse Kinematics
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- Pasquale Chiacchio, Stefano Chiaverini
Pages 319-328
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Kinematic Design
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Front Matter
Pages 349-349
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- S. J. Remis, M. M. Stanišić
Pages 351-358
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- Vincent Hayward, Jehangir Choksi, Gonzalo Lanvin, Christophe Ramstein
Pages 359-368
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- Yeong-Jeong Ou, Lung-Wen Tsai
Pages 369-378
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- Giuseppe Quaglia, Massimo Sorli
Pages 379-388
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Kinematic Analysis
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Front Matter
Pages 389-389
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Parallel Manipulators
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Front Matter
Pages 427-427
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- Carlo Innocenti, Vincenzo Parenti-Castelli
Pages 429-438
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- Luc Tancredi, Jean-Pierre Merlet
Pages 439-448
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- M. L. Husty, P. Zsombor-Murray
Pages 449-458
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- M. Griffis, C. Crane, J. Duffy
Pages 459-464
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Task and Motion Planning
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Front Matter
Pages 465-465
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