Kinematic Analysis of Robot Manipulators

Crane III, Carl D.; Duffy, Joseph

ISBN 10: 0521047935 ISBN 13: 9780521047937

Edit� par Cambridge University Press, 2008

Langue: anglais

Etat : Neuf Couverture souple

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D�tails bibliographiques

Titre

Kinematic Analysis of Robot Manipulators

�diteur

Cambridge University Press

Date de parution

2008

Langue

anglais

ISBN � 10 chiffres

0521047935

ISBN � 13 chiffres

9780521047937

Reliure

Couverture souple

�tat de l'article

New

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Synopsis

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.

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