Screw Theory and its Application to Spatial Robot Manipulators

✍ Scribed by Carl D. Crane III, Michael Griffis, Joseph Duffy

Publisher: Cambridge University Press
Year: 2022
Tongue: English
Leaves: 222
Edition: New
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.

📜 SIMILAR VOLUMES

Dynamics of Manipulation Robots: Theory

📁 Dynamics of Manipulation Robots: Theory and Application

✍ D. Sc., Ph. D. Miomir Vukobratović, Ph. D. Veljko Potkonjak (auth.) 📂 Library 📅 1982 🏛 Springer-Verlag Berlin Heidelberg 🌐 English

This monograph represents the first book of the series entitled "SCI ENTIFIC FUNDAMENTALS OF ROBOTICS". The aim of this monograph is to ap proach the dynamics of active mechanisms from the standpoint of its application to the synthesis of complex motion and computer-aided de sign of manipulati

Control of Manipulation Robots: Theory a

📁 Control of Manipulation Robots: Theory and Application

✍ D. Sc., Ph. D. Miomir Vukobratović, Ph. D. Dragan Stokić (auth.) 📂 Library 📅 1982 🏛 Springer-Verlag Berlin Heidelberg 🌐 English

This monograph represents the second book of the series entitled: "SCI ENTIFIC FUNDAl-1ENTALS OF ROBOTICS". While the first volume provides a study of the dynamics of spatial mechanisms and its application to the design of these mechanisms, the present one focuses on the synthesis -of control ba

A Robotic Framework for the Mobile Manip

📁 A Robotic Framework for the Mobile Manipulator: Theory and Application

✍ Nguyen Van Toan, Phan Bui Khoi 📂 Library 📅 2023 🏛 CRC Press 🌐 English

By proposing and forming a mobile manipulator for modern multi-floor buildings, A Robotic Framework for the Mobile Manipulator: Theory and Application helps readers visualize an end-to-end workflow for making a robot system work in a targeted environment. From a pr

Flexible Robotics: Applications to Multi

📁 Flexible Robotics: Applications to Multiscale Manipulations

✍ Mathieu Grossard, Nicolas Chaillet, Stéphane Régnier 📂 Library 📅 2013 🏛 Wiley-ISTE 🌐 English

The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, par

Robot Manipulator Control. Theory and Pr

📁 Robot Manipulator Control. Theory and Practice

✍ Lewis 📂 Library 🌐 English

Robot Manipulator Control Theory and Pra

📁 Robot Manipulator Control Theory and Practice

✍ Frank L. Lewis, Darren M. Dawson, Chaouki T. Abdallah 📂 Library 📅 2003 🏛 CRC Press 🌐 English

Discloses the elements of control theory and robot dynamics. Surveys computed-torque control, robust control of robotic manipulators, adaptive control of robotic manipulators, neural network control of robots, force control, and advanced control techniques. Includes information on designing and oper