Singularities of Robot Mechanisms Numerical Computation and Avoidance Path Planning

Singularities of Robot Mechanisms Numerical Computation and Avoidance Path Planning / by Oriol Bohigas, Montserrat Manubens, Lluís Ros.

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 de...

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Bibliographic Details
Main Authors: Bohigas, Oriol (Author), Manubens, Montserrat (Author), Ros, Lluís (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: Cham : Springer International Publishing : Imprint: Springer, 2017.
Edition:1st ed. 2017.
Series:Mechanisms and Machine Science, 41
Springer eBook Collection.
Subjects:
Robotics.
Automation.
Vibration.
Dynamical systems.
Dynamics.
Numerical analysis.
Applied mathematics.
Engineering mathematics.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • Preface
  • Notation
  • List of Figures
  • 1 Introduction
  • 1.1 Historical Context
  • 1.2 Assumptions and Scope
  • 1.3 Reader’s Guide
  • 2 Singularity Types
  • 2.1 Forward and Inverse Singularities
  • 2.2 A Geometric Interpretation of Singularities
  • 2.3 Lower-level Singularity Types
  • 2.4 A Simple Mechanism with All Singularities
  • 3 Numerical Computation of Singularity Sets
  • 3.1 A Suitable Approach
  • 3.2 Formulating the Equations of the Singularity Set
  • 3.3 Isolating the Singularity Set
  • 3.4 Visualising the Singularity Sets
  • 3.5 Case Studies
  • 4 Workspace Determination
  • 4.1 The Need of a General Method
  • 4.2 The Workspace and its Boundaries
  • 4.3 Issues of Continuation Methods
  • 4.4 Exploiting the Branch-and-Prune Machinery
  • 4.5 Case Studies
  • 5 Singularity-free Path Planning
  • 5.1 Related Work
  • 5.2 Formulating the Singularity-free C-space
  • 5.3 Exploring the Singularity-free C-space
  • 5.4 Case Studies
  • 6 Planning with Further Constraints
  • 6.1 Wrench-Feasibility Constraints
  • 6.2 The Planning Problem
  • 6.3 Proofs of the Properties
  • 6.4 Case Studies
  • 6.5 Details about the Wrench Ellipsoid
  • 6.6 Extensions
  • 7 Conclusions
  • 7.1 Summary of Results
  • 7.2 Future Research Directions
  • References
  • Index
  • Author Index. .

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