kinematic analysis of robot manipulators

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Kinematic Analysis Of Robot Manipulators

Author : Carl D. Crane, III
ISBN : 0521047935
Genre : Science
File Size : 28. 28 MB
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Introduction to robot manipulators, with case studies of industrial robots.

Kinematic Analysis Of Robot Manipulators

Author : Carl D. Crane, III
ISBN : 0521570638
Genre : Technology & Engineering
File Size : 53. 15 MB
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A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially connected by six revolute joints. A unique feature is its detailed analysis of 6R-P and 7R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.

Kinematic Analysis Of Robot Manipulators

Author : Carl David Crane
ISBN : OCLC:708568918
Genre : Manipulators (Mechanism)
File Size : 42. 54 MB
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A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially connected by six revolute joints. A unique feature is its detailed analysis of 6R-P and 7R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.

Analysis Of Mechanisms And Robot Manipulators

Author : Joseph Duffy
ISBN : UOM:39015006413440
Genre : Technology & Engineering
File Size : 60. 32 MB
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Presents a unified theory for the kinematic analysis of mechanisms & robotic arms. Analyzes single loop mechanisms & manipulators.

Kinematic Analysis And Design Of Redundant Robot Manipulators

Author : Joel Wakeman Burdick
ISBN : LCCN:88197461
Genre : Manipulators (Mechanism)
File Size : 26. 31 MB
Format : PDF
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Advances In Robot Kinematics Analysis And Design

Author : Jadran Lenarčič
ISBN : 9781402086007
Genre : Technology & Engineering
File Size : 44. 17 MB
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This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.

Kinematic Analysis Of Parallel Manipulators By Algebraic Screw Theory

Author : Jaime Gallardo-Alvarado
ISBN : 9783319311265
Genre : Technology & Engineering
File Size : 79. 90 MB
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This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.

Control Of Redundant Robot Manipulators

Author : Rajni V. Patel
ISBN : 3540250719
Genre : Technology & Engineering
File Size : 61. 36 MB
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This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

Dynamic Analysis Of Robot Manipulators

Author : Constantinos A. Balafoutis
ISBN : 9781461539520
Genre : Technology & Engineering
File Size : 44. 63 MB
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The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical vector formulation. Thus, based on Cartesian tensor analysis, a conceptually simple, easy to implement and computationally efficient tensor methodology is presented in this monograph for studying classical rigid body dynamics. XlI Application of this tensor methodology to the dynamic analysis of rigid-link open-chain robot manipulators is simple and leads to an efficient fonnulation of the dynamic equations of motion.

Robot Dynamics And Control

Author : Mark W Spong
ISBN : 8126517808
Genre : Robots
File Size : 28. 3 MB
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This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.

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