Read e-book online Advances in Robot Kinematics: Analysis and Control PDF

Analysis

By P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty (eds.)

ISBN-10: 9048150663

ISBN-13: 9789048150663

ISBN-10: 9401590648

ISBN-13: 9789401590648

The contributions during this booklet have been provided on the 6th foreign symposium on Advances in robotic Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The previous symposia of the sequence happened in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever on the grounds that its first occasion, ARK has attracted the main impressive authors within the zone and controlled to create an ideal mix of professionalism and pleasant athmosphere. we're happy to monitor that, inspite of a powerful pageant of many foreign meetings and conferences, ARK is constant to develop when it comes to the variety of members and by way of its clinical influence. In its ten years, ARK has contributed to improve a notable clinical group within the zone of robotic kinematics. The final 4 symposia have been organised lower than the patronage of the overseas Federation for the speculation of Machines and Mechanisms -IFToMM. curiosity to researchers, doctoral scholars and academics, The publication is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, layout, and keep watch over of robots. it truly is divided into sections that have been stumbled on because the popular parts of the modern kinematics examine. because it can simply be spotted, a tremendous a part of the booklet is devoted to numerous facets of the kinematics of parallel mechanisms that persist to be essentially the most appealing components of analysis in robotic kinematics.

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Extra resources for Advances in Robot Kinematics: Analysis and Control

Example text

Ye have thus transformed our initial problem into an optimization problem. Determining the optimum will be addressed in section 3 and we will see in that this problem can be either solved exactly or that an upper bound JI\L/ of JIM and a lower bound AI;" of AIm can be found. II;" for the box workspace. 1[;" have the 42 same sign there is no singularity within the box workspace, so we will assume that these quantities have not the same sign. A list So of box workspaces will be created and initialized with the box workspace Bo.

But this index is usually estimated by a discrete method over the whole workspace and henceforth may fail to locate singularities. Before proceeding to the explanation of our algorithm let us make a remark about the inverse jacobian matrix. 1- 1 1= ~~~I TIi=1 Pi and consequently the singular configuration are also defined by IA'II = O. 1\11 will be denoted the semi-inverse jacobian matrix of the robot. 2. 1. SINGULARITY WITHIN A BOX WORKSPACE A bo:r workspace will be defined as a set of 6 ranges, one for each of the component of X.

It is a six-degreeof-freedom manipulator comprising a parallel structure with three prismatic joints and a spherical wrist. This work is aimed at studying the kinematics of this robot, with specific concern to the parallel structure. Spherical coordinates are used to obtain the inverse kinematics equation of the structure. Then, the inverse differential kinematics mapping is derived in terms of the inverse Jacobian and, in force of duality, the inverse statics mapping is also derived. Such mappings are effectively used to perform a velocity and force analysis by means of manipulability ellipsoids (Yoshikawa 1985), demonstrating the features of the structure from a design standpoint.

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Advances in Robot Kinematics: Analysis and Control by P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty (eds.)


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