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|a 10.1007/978-94-015-8192-9
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|a Computational kinematics /
|c edited by Jorge Angeles, Department of Mechanical Engineering, McGill University, Montreal, Quebec, Canada, Günter Hommel and Peter Kovács, Department of Computer Science, Technical University of Berlin, Berlin, Germany.
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| 264 |
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|a Dordrecht :
|b Springer Science+Business Media,
|c [1993]
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|c ©1993
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|a 1 online resource (ix, 306 pages) :
|b illustrations.
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|a text
|b txt
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|a computer
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|a online resource
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|a Solid mechanics and its applications,
|v volume 28
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| 505 |
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|a 1. Kinematics Algorithms. 1.1. Computations in Kinematics / B. Roth. 1.2. Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem / M. Ghazvini. 1.3. On the Tangent-Half-Angle Substitution / P. Kovacs and G. Hommel. 1.4. Resultant Methods for the Inverse Kinematics Problem / J. Weiss -- 2. Redundant Manipulators. 2.1. Redundancy Resolution for an Eight-Axis Manipulator / H. Heiss. 2.2. A Mixed Numeric and Symbolic Approach to Redundant Manipulators / M. Kauschke. 2.3. Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators / J. Lenarcic. 2.4. On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators / E. Celaya and C. Torras. 2.5. The Self-Motion Manifolds of the N-Bar Mechanism / F. Thomas -- 3. Kinematic and Dynamic Control. 3.1. Feedforward Torque Computations with the Aid of Maple V / T.H. Connolly and F. Pfeiffer. 3.2. Nonlinear Control of Constrained Redundant Manipulators / C. Woernle.
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| 505 |
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|a 3.3. Analysis of Mechanisms by the Dual Inertia Operator / M. Shoham and V. Brodsky -- 4. Parallel Manipulators. 4.1. Direct Kinematics in Analytical Form of a General Geometry 5-4 Fully-Parallel Manipulator / C. Innocenti and V. Parenti-Castelli. 4.2. The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators / H.R. Mohammadi Daniali, P.J. Zsombor-Murray and J. Angeles. 4.3. The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators / K.E. Zanganeh and J. Angeles. 4.4. On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators / D. Lazard. 4.5. Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators / J.-P. Merlet -- 5. Motion Planning. 5.1. Singularity Control for Simple Manipulators using 'Path Energy' / J.E. Lloyd. 5.2. An Investigation of Path Tracking Singularities for Planar 2R Manipulators / J. Kieffer and B. O'Loghlin.
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| 505 |
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|a 5.3. Robot Motions with Trajectory Interpolation and Overcorrection / H. Heiss. 5.4. Computational Geometry and Motion Approximation / Q.J. Ge and B. Ravani -- 6. Kinematics of Mechanisms. 6.1. Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator / R.B. Hertz and P.C. Hughes. 6.2. Analytical Determination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages / C. Innocenti. 6.3. On Closed Form Solutions of Multiple-Loop Mechanisms / A. Kecskemethy. 6.4. A Modular Method for Computational Kinematics / P. Fanghella and C. Galletti. 6.5. Synthesis for Rigid Body Guidance Using Polynomials / A.A. Rojas Salgado and J.I. Torres Navarro. 6.6. Designing Mechanisms for Workspace Fit / F.C. Park, A.P. Murray and J.M. McCarthy.
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| 500 |
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|a "Proceedings of the Workshop on Computational Kinematics, held at the International Conference and Research Center for Computer Science (IBFI), of Germany, from October 11 to October 15, 1993"--Preface.
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| 504 |
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|a Includes bibliographical references.
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| 520 |
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|a This volume provides a state of the art account of developments in computational kinematics. Included are both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and the information is collated logically into six parts describing the main themes: (i) kinematic algorithms, whereby general kinematic problems are discussed in light of their solution algorithms; (ii) redundant manipulators; (iii) kinematic and dynamic control in which the link between kinematics and the disciplines of dynamics and control is highlighted; (iv) parallel manipulators; (v) motion planning, touching on computational geometry; (vi) kinematics of mechanisms describing the closed kinematic chains. The volume contains a representative sample of the most modern techniques available for kinematics problems, including some novel techniques described for the first time in a book. It will be of interest to researchers, graduate students and practising engineers engaged in work relating to kinematics, robotics, machine design and computer science.
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| 588 |
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|a Print version record.
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| 650 |
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|a Kinematics
|x Data processing
|v Congresses.
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| 650 |
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|a Kinematics
|x Data processing.
|2 fast
|0 (OCoLC)fst00987612
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| 650 |
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7 |
|a Kinematik.
|2 swd
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| 650 |
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7 |
|a Kongre€.
|2 swd
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| 650 |
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7 |
|a Numerisches Verfahren.
|2 swd
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| 655 |
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7 |
|a Electronic books.
|2 local
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| 655 |
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|a Conference proceedings.
|2 fast
|0 (OCoLC)fst01423772
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| 655 |
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7 |
|a Dagstuhl (1993)
|2 swd
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| 700 |
1 |
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|a Angeles, Jorge,
|d 1943-,
|e editor.
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| 700 |
1 |
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|a Hommel, Günter,
|e editor.
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| 700 |
1 |
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|a Kovács, Péter,
|e editor.
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| 710 |
2 |
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|a SpringerLink (Online service)
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| 711 |
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|a Workshop on Computational Kinematics
|d (1993 :
|c Dagstuhl Castle, Germany)
|
| 776 |
1 |
8 |
|i Print version:
|t Computational kinematics
|z 0792325850
|w (DLC) 93248242
|w (OCoLC)29956275
|
| 830 |
|
0 |
|a Solid mechanics and its applications ;
|v v. 28.
|
| 856 |
4 |
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|u http://proxy.library.tamu.edu/login?url=https://link.springer.com/10.1007/978-94-015-8192-9
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|a Texas A&M University
|b College Station
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| 998 |
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