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Screw Theory In Robotics
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Book Synopsis Robots and Screw Theory by : J. K. Davidson
Download or read book Robots and Screw Theory written by J. K. Davidson and published by Oxford University Press. This book was released on 2004-03-25 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots and Screw Theory describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed in the book are used in the control of robots and in the design of their major moving parts. The illustrative examples and the exercises in the book are taken principally from robotic machinery used for manufacturing and construction, but the principles apply equally well to miniature robotic devices and to those used in other industries. The comprehensive coverage of the screw and its geometry lead to reciprocal screw systems for statics and instantaneous kinematics. These screw systems are brought together in a unique way to show many cross-relationships between the force-systems that support a body equivalently to a kinematic serial connection of joints and links. No prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example yet most of the book applies to robots that move three-dimensionally. Consequently, the book is suitable both as a text at the graduate-course level and as a reference book for the professional. Worked examples on every major topic and over 300 exercises clarify and reinforce the principles covered in the text. A chapter-length list of references gives the reader source-material and opportunities to pursue more fully topics contained in the text.
Book Synopsis Screw Theory in Robotics by : Jose M. Pardos-Gotor
Download or read book Screw Theory in Robotics written by Jose M. Pardos-Gotor and published by CRC Press. This book was released on 2021-11-23 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: Screw theory is an effective and efficient method used in robotics applications. This book demonstrates how to implement screw theory, explaining the key fundamentals and real-world applications using a practical and visual approach. An essential tool for those involved in the development of robotics implementations, the book uses case studies to analyze mechatronics. Screw theory offers a significant opportunity to interpret mechanics at a high level, facilitating contemporary geometric techniques in solving common robotics issues. Using these solutions results in an optimized performance in comparison to algebraic and numerical options. Demonstrating techniques such as six-dimensional (6D) vector notation and the Product of Exponentials (POE), the use of screw theory notation reduces the need for complex algebra, which results in simpler code, which is easier to write, comprehend, and debug. The book provides exercises and simulations to demonstrate this with new formulas and algorithms presented to aid the reader in accelerating their learning. By walking the user through the fundamentals of screw theory, and by providing a complete set of examples for the most common robot manipulator architecture, the book delivers an excellent foundation through which to comprehend screw theory developments. The visual approach of the book means it can be used as a self-learning tool for professionals alongside students. It will be of interest to those studying robotics, mechanics, mechanical engineering, and electrical engineering.
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Book Synopsis Screw Theory for Robotics by : José Pardos-Gotor
Download or read book Screw Theory for Robotics written by José Pardos-Gotor and published by . This book was released on 2018-08-26 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: The importance of screw theory in robotics is recognised but hardly capitalised on. Engineering students rarely get to learn about it in class, so only few postgraduates know how to exploit it. However, in a variety of areas of robotics, the methods and formalisms based on the geometry and algebra of the screws, have proven to be superior to other techniques.The idea of publishing this book came about because there were not enough specialised texts for teaching the screw theory methodologies and advantages through a set of visual and comprehensive examples.This illustrated handbook presents an abstract mathematical formulation for robot KINEMATICS based in the use of the screw theory tools, making an emphasis on modern geometric techniques. Its main objective is to demonstrate that many robotics problems addressed today only with numerical iterative solutions, are solved much better with closed-form geometric solutions based on screw theory.This book will surely spark your excitement about the technological and social prospects for robotics and enable you to develop effective and efficient robot algorithms, solutions and applications. In the end you will realise that, most of the time, a good theory is the fastest way to obtain a better performance, and the only thing you will have to do in exchange is put in some time and commitment in studying the screw theory.The contents of this handbook are used at the "Master in Robotics and Automation" of the UC3M (Universidad Carlos III de Madrid) by the Department of Systems Engineering and Automation.
Book Synopsis Finite and Instantaneous Screw Theory in Robotic Mechanism by : Tao Sun
Download or read book Finite and Instantaneous Screw Theory in Robotic Mechanism written by Tao Sun and published by Springer Nature. This book was released on 2020-02-13 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div
Book Synopsis Theory of Applied Robotics by : Reza N. Jazar
Download or read book Theory of Applied Robotics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2010-06-14 with total page 889 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.
Book Synopsis Theory of Parallel Mechanisms by : Zhen Huang
Download or read book Theory of Parallel Mechanisms written by Zhen Huang and published by Springer Science & Business Media. This book was released on 2012-07-26 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains mechanism analysis and synthesis. In mechanism analysis, a mobility methodology is first systematically presented. This methodology, based on the author's screw theory, proposed in 1997, of which the generality and validity was only proved recently, is a very complex issue, researched by various scientists over the last 150 years. The principle of kinematic influence coefficient and its latest developments are described. This principle is suitable for kinematic analysis of various 6-DOF and lower-mobility parallel manipulators. The singularities are classified by a new point of view, and progress in position-singularity and orientation-singularity is stated. In addition, the concept of over-determinate input is proposed and a new method of force analysis based on screw theory is presented. In mechanism synthesis, the synthesis for spatial parallel mechanisms is discussed, and the synthesis method of difficult 4-DOF and 5-DOF symmetric mechanisms, which was first put forward by the author in 2002, is introduced in detail. Besides, the three-order screw system and its space distribution of the kinematic screws for infinite possible motions of lower mobility mechanisms are both analyzed.
Book Synopsis Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms by : Jingshan Zhao
Download or read book Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms written by Jingshan Zhao and published by Academic Press. This book was released on 2018-10-30 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
Book Synopsis Analysis and Synthesis of Compliant Parallel Mechanisms—Screw Theory Approach by : Chen Qiu
Download or read book Analysis and Synthesis of Compliant Parallel Mechanisms—Screw Theory Approach written by Chen Qiu and published by Springer Nature. This book was released on 2020-06-23 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.
Book Synopsis Advances in Robot Kinematics 2018 by : Jadran Lenarcic
Download or read book Advances in Robot Kinematics 2018 written by Jadran Lenarcic and published by Springer. This book was released on 2018-06-22 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Book Synopsis A Treatise on the Theory of Screws by : Robert Stawell Ball
Download or read book A Treatise on the Theory of Screws written by Robert Stawell Ball and published by . This book was released on 1900 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fundamentals of Robot Mechanics by : Gregory Long
Download or read book Fundamentals of Robot Mechanics written by Gregory Long and published by . This book was released on 2015-04-17 with total page 570 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Fundamentals of Robot Mechanics contains a thorough treatment of essential concepts in robot kinematics,statics, and dynamics. Beginning with the elementary notions of points and vectors in 3-dimensional space, this thoughtful textbook conveys an in-depth presentation of robotics essentials such as rotation transformations, homogeneous transformations, Denavit-Hartenberg parameters, forward kinematics, inverse kinematics, instantaneous kinematics and statics, singular configurations, and dynamics of serial-chain manipulators. More specifically, this exposition of robot fundamentals provides the following:1) Step-by-Step instructions for obtaining the classic DH Parameters for any serial-chain manipulator.2) A computationally efficient formulation of serial-chain manipulator forward and inverse kinematics.3) An elegant and computationally efficient formulation of the manipulator Jacobian using screw theory.4) A rigorous treatment of singular configurations and reciprocal screws using screw theory.5) A comprehensive treatment of statics using virtual work and screw theory.6) Workspace analysis techniques for 2-revolute and 3-revolute pair serial-chain structures.7) A complete derivation of manipulator dynamics using Lagrange's equations.8) A computationally efficient formulation of manipulator dynamics using lump inertias.The Fundamentals of Robot Mechanics contains over 500 color illustrations, over 100 detailed individual and extended examples, and over 300 exercises to promote mastery of both theory and practice. This text also includes references to over 400 original research articles. A professional-trade book for all robotics students and practicing engineers who wish to master robot mechanics.
Book Synopsis A Mathematical Introduction to Robotic Manipulation by : Richard M. Murray
Download or read book A Mathematical Introduction to Robotic Manipulation written by Richard M. Murray and published by CRC Press. This book was released on 2017-12-14 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.
Book Synopsis Mechanics of Robotic Manipulation by : Matthew T. Mason
Download or read book Mechanics of Robotic Manipulation written by Matthew T. Mason and published by MIT Press. This book was released on 2001-06-08 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on. Unlike most books on the subject, it focuses on manipulation rather than manipulators. This attention to processes rather than devices allows a more fundamental approach, leading to results that apply to a broad range of devices, not just robotic arms. The book draws both on classical mechanics and on classical planning, which introduces the element of imperfect information. The book does not propose a specific solution to the problem of manipulation, but rather outlines a path of inquiry.
Book Synopsis Type Synthesis of Parallel Mechanisms by : Xianwen Kong
Download or read book Type Synthesis of Parallel Mechanisms written by Xianwen Kong and published by Springer. This book was released on 2007-10-28 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.
Book Synopsis Robotics and Mechatronics by : Chin-Hsing Kuo
Download or read book Robotics and Mechatronics written by Chin-Hsing Kuo and published by Springer Nature. This book was released on 2019-09-26 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the latest advances, innovations and applications in the field of robotics and mechatronics, as presented by leading international researchers and engineers at the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM), held in Taipei, Taiwan, on October 28–30, 2019. It covers highly diverse topics, including mechanism synthesis, analysis, and design, kinematics and dynamics of multibody systems, modelling and simulation, sensors and actuators, novel robotic systems, industrial- and service-related robotics and mechatronics, medical robotics, and historical developments in robotics and mechatronics. The contributions, which were selected through a rigorous international peer-review process, share exciting ideas that spur novel research directions and foster new, multidisciplinary collaborations.
Book Synopsis Robots and Screw Theory by : Joseph K. Davidson
Download or read book Robots and Screw Theory written by Joseph K. Davidson and published by . This book was released on 2004 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts. Comprehensive coverage of the screw and its geometry bridges the gap between screw theory and traditional mechanics but no prior knowledge of screw theory is assumed. The reader is introduced to the screw with a simple planar example and progresses to robots that move three-dimensionally. Containing many illustrative examples, over 300 exercises, and a chapter list of references it is ideal for graduate students, researchers and professionals in the field of robotics, robot design and development.
