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This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also determine the workspaces and motion impediments of its underlying mechanical structure. A distinctive feature of this volume is that the methods are applicable to nonredundant mechanisms of general architecture, defined by planar or spatial kinematic chains interconnected in an arbitrary way. Moreover, singularities are interpreted as silhouettes of the configuration space when seen from the input or output spaces. This leads to a powerful image that explains the consequences of traversing singular configurations, and all the rich information that can be extracted from them. The problems are solved by means of effective branch-and-prune and numerical continuation methods that are of independent interest in themselves. The theory can be put into practice as well: a companion web page gives open access to implementations of the algorithms and the corresponding input files. Using them, the reader can gain hands-on experience on the topic, or analyse new mechanisms beyond those examined in the text. Overall, the book contributes new tools for robot design, and constitutes a single reference source of knowledge that is otherwise dispersed in the literature.
A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. · World class authority· Unique range of coverage not available in any other book· Provides a complete course on robotic control at an undergraduate and graduate level
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.
Manipulators, usually resembling a human arm, are widely used in industry. The most popular manipulators are serial chain manipulators. But low transportable load and poor accuracy increasingly become problems of the usage with such kinds of robots. Consequently, closed loop chain mechanisms are introduced to resolve these problems. In comparison to serial robots, parallel robots have many advantages. But the complexity of singularity analysis and relatively small workspace are the major drawbacks for parallel robots. This thesis is focused on singularity analysis and kinematic design of parallel robots. The thesis makes three major contributions to the research of parallel robot kinematics. Firstly, the determination of unmanipulable singularities are presented. Through the decomposition of the composite manipulability Jacobian, they are identified as single-arm singularities or coincident with unstable singularities. Secondly, singularities are classified due to their relationship with the design purpose. A sequential design procedure is introduced for singularity free workspace design. For an n -arm parallel robot, n -1 arms are designed first to satisfy workspace requirements, then the last arm is designed to provide a singularity-free workspace. Planar and spatial parallel mechanism singularity-free workspace design examples are presented to verify the efficacy of this design method. Modeling of this design method is discussed, and optimization tools are suggested to solve the design problem. Thirdly, a novel 6-Degree Of Freedom composite parallel mechanism is introduced. It consists of two parallel mechanism-the planar 3-RP[barbelow]R and the spatial 3-UP[barbelow]S-1-PU. Inverse kinematics and singularity of this mechanism are analyzed. Different combinations are demonstrated for different applications.
This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.
This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.