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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 map** 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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Front Matter
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Introduction
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Front Matter
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Workspace and Trajectory Analysis
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Front Matter
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Computational Geometry in Kinematics
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Front Matter
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Kinematics of Mobile Robots
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Front Matter
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Editors and Affiliations
Bibliographic Information
Book Title: Advances in Robot Kinematics and Computational Geometry
Editors: Jadran Lenarčič, Bahram Ravani
DOI: https://doi.org/10.1007/978-94-015-8348-0
Publisher: Springer Dordrecht
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eBook Packages: Springer Book Archive
Copyright Information: Springer Science+Business Media Dordrecht 1994
Hardcover ISBN: 978-0-7923-2983-1Published: 30 June 1994
Softcover ISBN: 978-90-481-4434-1Published: 15 December 2010
eBook ISBN: 978-94-015-8348-0Published: 29 June 2013
Edition Number: 1
Number of Pages: VI, 514
Topics: Robotics and Automation, Mathematical Modeling and Industrial Mathematics, Control and Systems Theory, Vibration, Dynamical Systems, Control, Numeric Computing, Mechanical Engineering