Singular configurations of mechanisms and manipulators

著者

書誌事項

Singular configurations of mechanisms and manipulators

Andreas Müller, Dimiter Zlatanov, editors

(CISM courses and lectures, 589)

Springer, c2019

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注記

Includes bibliographical references

内容説明・目次

内容説明

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.

目次

Generalized Singularity Analysis.- Singularity Set Computation: A Hands-On Introduction with the CUIK Suite.- Cuspidal Robots.- Mechanism Constraints and Singularities- The Algebraic Formulation.- Local Investigation of Mobility and Singularities of Linkages.

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