Beispielbild für diese ISBN

Computational Kinematics

Angeles, J.; Hommel, G.; Kovacs, P.

Verlag: Kluwer Academic Publishers, Dordrecht, Holland, 1993
ISBN 10: 0792325850 / ISBN 13: 9780792325857
Gebraucht / hardcover / Anzahl: 1
Verkäufer PsychoBabel & Skoob Books (Didcot, OXON, Vereinigtes Königreich)
Bei weiteren Verkäufern erhältlich
Alle  Exemplare dieses Buches anzeigen
In den Warenkorb legen
Preis: EUR 73,69
Währung umrechnen
Versand: EUR 5,62
Von Vereinigtes Königreich nach USA
Versandziele, Kosten & Dauer

Für später vormerken

Über dieses Buch

Bibliografische Details

Titel: Computational Kinematics

Verlag: Kluwer Academic Publishers, Dordrecht, Holland

Erscheinungsdatum: 1993

Einband: hardcover

Zustand: Very Good

Zustand des Schutzumschlags: No Dust Jacket

Art des Buches: Used


binding is extremely well preserved, though with some very light surface wear. pages are clean and crisp and printing is tight clean and bright throughout. Buchnummer des Verkäufers 195133

Über diesen Titel:

Inhaltsangabe: The aim of this book is to provide an account of the state of the art in Com- putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer- ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori- ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question- s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen- tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu- tions, and the question as to the number of solutions to expect still remains.

Contenuti: 1 Kinematics Algorithms.- 1.1 Computations in Kinematics.- 1.2 Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem.- 1.3 On the Tangent-Half-Angle Substitution.- 1.4 Resultant Methods for the Inverse Kinematics Problem.- 2 Redundant Manipulators.- 2.1 Redundancy Resolution for an Eight-Axis Manipulator.- 2.2 A Mixed Numeric and Symbolic Approach to Redundant Manipulators.- 2.3 Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators.- 2.4 On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators.- 2.5 The Self-Motion Manifolds of the N-Bar Mechanism.- 3 Kinematic and Dynamic Control.- 3.1 Feedforward Torque Computations with the Aid of Maple V.- 3.2 Nonlinear Control of Constrained Redundant Manipulators.- 3.3 Analysis of Mechanisms by the Dual Inertia Operator.- 4 Parallel Manipulators.- 4.1 Direct Kinematics in Analytical Form of a General Geometry 5?4 Fully-Parallel Manipulator.- 4.2 The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators.- 4.3 The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators.- 4.4 On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators.- 4.5 Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators.- 5 Motion Planning.- 5.1 Singularity Control for Simple Manipulators using ?PathEnergy?.- 5.2 An Investigation of Path Tracking Singularities for Planar 2R Manipulators.- 5.3 Robot Motions with Trajectory Interpolation and Overcorrection.- 5.4 Computational Geometry and Motion Approximation.- 6 Kinematics of Mechanisms.- 6.1 Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator.- 6.2 Analytical Determination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages.- 6.3 On Closed Form Solutions of Multiple-Loop Mechanisms.- 6.4 A Modular Method for Computational Kinematics.- 6.5 Synthesis for Rigid Body Guidance Using Polynomials.- 6.6 Designing Mechanisms for Workspace Fit.

„Über diesen Titel“ kann sich auf eine andere Ausgabe dieses Titels beziehen.

Anbieter- & Zahlungsinformationen


Dieser Anbieter akzeptiert die folgenden Zahlungsarten:

  • American Express
  • Bankwechsel
  • Banküberweisung
  • Carte Bleue
  • EuroCard/MasterCard
  • PayPal
  • Visa

[Im Angebot des Anbieters suchen]

[Alle Bücher des Anbieters anzeigen]

[Dem Anbieter eine Frage stellen]

Anbieter: PsychoBabel & Skoob Books
Adresse: Didcot, OXON, Vereinigtes Königreich

AbeBooks Verkäufer seit: 6. Oktober 2003
Bewertung: 5 Sterne


To pay by PayPal, just paste this link into your browser: PsychoBabel Books in Oxfordshire and Skoob Books in London (Russell Square Tube) are solely owned by Chris Edwards, 56b Jubilee Avenue, Milton Park, Abingdon Oxfordshire. OX14 4RX. Prompt dispatch on clearance of payment. If any doubt about condition of book in addition to that described please e-mail or call. PsychoBabel & Skoob Books 56b Jubilee Avenue, Milton Park Abingdon, Oxfordshire OX14 4RX Telephone 0123...

[Mehr Information]


We post every weekday! All shipping quotes are based on fast efficient service with the best possible packaging.
Standard charge is based on average weight of books - about 0.9Kg. Heavy items (over 1.5Kg) may require extra postage depending on destination. We'll e-mail you if necessary.

Anbieterinformationen: To pay by PayPal, just paste this link into your browser: PsychoBabel Books in Oxfordshire and Skoob Books in London (Russell Square Tube)are run and owned by Chris Edwards operating as a sole trader. We have bought all our books and take great care with the storage and listing of each one. As well as over 107,000 listings we have nearly 100,000 in our London shop and probably five times as many awaiting attention in the warehouse. We have been selling with a five-star rating continuously sine 2003 on AbeBooks. PsychoBabel and Skoob buy from private individuals and prestigious libraries. We are NOT 'barcoders' but dedicated book lovers, offering an excellent service. We enjoy receiving phone calls and we handle each order individually. We dispatch our orders daily and accommodate customers all over the world. Our wonderful packaging is not charged for. Please email or call with any queries or requests for photos.