Carl D. III Crane, Joseph Duffy, III Carl D. Crane

Kinematic Analysis of Robot Manipulators

• Gebundenes Buch

Produktbeschreibung

A robot manipulator is a movable chain of links interconnected by joints. One end is fixed to the ground, and a hand or end effector that can move freely in space is attached at the other end. This book begins with an introduction to the subject of robot manipulators. Next, it describes in detail a forward and reverse analysis for serial robot arms. Most of the text focuses on closed form solution techniques applied to a broad range of manipulator geometries, from typical industrial robot designs (relatively simple geometries) to the most complicated case of seven general links serially connected by six revolute joints. A unique feature is its detailed analysis of 6R-P and 7R mechanisms. Case studies show how the techniques described in the book are used in real engineering applications. The book will be useful to both graduate students and engineers working in the field of robotics.

---

Hinweis: Dieser Artikel kann nur an eine deutsche Lieferadresse ausgeliefert werden.

Produktdetails

• Verlag: Cambridge University Press
• Seitenzahl: 444
• Erscheinungstermin: 10. Januar 2011
• Englisch
• Abmessung: 260mm x 183mm x 28mm
• Gewicht: 1024g
• ISBN-13: 9780521570633
• ISBN-10: 0521570638
• Artikelnr.: 23001891

Inhaltsangabe

Preface
1. Introduction
2. Coordinate transformations
3. Manipulator kinematics
4. Forward kinematic analysis
5. Reverse kinematic analysis problem statement
6. Spherical closed-loop mechanisms
7. Displacement analysis of group 1 spatial mechanisms
8. Group 2 spatial mechanisms
9. Group 3 spatial mechanisms
10. Group 4 spatial mechanisms
11. Case studies
12. Quaternions
Appendix
References
Index.