Description

Book Synopsis
Introduces the subject of robot manipulators and describes a forward and reverse analysis for serial robot arms. Focuses on closed form solution techniques applied to a broad range of manipulator geometries. Case studies show how the techniques are used in real engineering applications.

Trade Review
'The book meets the need for a thorough analysis of the structure and mobility of serial manipulators and will be useful to both graduate students and engineers working in the field of robotics.' Engineering Designer

Table of Contents
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.

Kinematic Analysis of Robot Manipulators

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    A Hardback by III, Carl D. Crane, Joseph Duffy

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      Book details

      Publisher Cambridge University Press
      Published 3/28/1998 12:00:00 AM
      ISBN-13 9780521570633
      978-0521570633
      ISBN-10 0521570638
      Also in:
      Materials science

      Description

      Book Synopsis
      Introduces the subject of robot manipulators and describes a forward and reverse analysis for serial robot arms. Focuses on closed form solution techniques applied to a broad range of manipulator geometries. Case studies show how the techniques are used in real engineering applications.

      Trade Review
      'The book meets the need for a thorough analysis of the structure and mobility of serial manipulators and will be useful to both graduate students and engineers working in the field of robotics.' Engineering Designer

      Table of Contents
      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.

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