Robots and Screw Theory

Applications of kinematics and statics to robotics

J.K. Davidson, K. H. Hunt

458 pages, parution le 02/04/2004

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Résumé

This book describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts. Containing many illustrative examples and over 300 exercises, it is ideal for graduate students, researchers and professionals in the field of robotics, robot design and development

An indispensable introduction to the subject of screws and screw theory for graduate students, researchers and professionals in the field of robotics, robot design and development
Worked examples on every major topic
Over 300 exercises, some with answers
Chapter-length list of references

Readership: Graduate students, researchers and professionals in the field of robotics, robot design and development

L'auteur - J.K. Davidson

J. K. Davidson, Professor, Department of Mechanical & Aerospace Engineering, Arizona State University

L'auteur - K. H. Hunt

K. H. Hunt, Emeritus Professor, Department of Mechanical Engineering, Monash University; Visiting Professor, Department of Mechanical & Manufacturing Engineering, University of Melbourne (deceased)

Sommaire

The planar serial robot-arm
Describing the screw
Analysing the screw
Transformations for coordinates that locate
Linear dependence, reciprocity of screws:
Spatial serial robot-arms
The assembly-configurations of serial
In-parallel actuation I : simple and direct
In-parallel actuation II : combinations with serial devices
Redundant robotic systems
Static stability in legged vehicles

Appendix a some useful expressions for lines
Appendix b the screw as a point in projective five-space
Appendix c the finite twist and eduard study's coordinates
Appendix d computer file for chapter 10

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Caractéristiques techniques

	PAPIER
Éditeur(s)	Oxford University Press
Auteur(s)	J.K. Davidson, K. H. Hunt
Parution	02/04/2004
Nb. de pages	458
Format	17 x 25
Couverture	Relié
Poids	860g
Intérieur	Noir et Blanc
EAN13	9780198562450
ISBN13	978-0-19-856245-0