Singularities of robot mechanisms : numerical computation and avoidance path planning

• Main Author: Bohigas, Oriol
• Other Authors: Manubens, Montserrat, Ros, Lluís
• Format: Electronic eBook
• Language: English
• Published: Switzerland : Springer, ©2017.
• Series: Mechanisms and machine science ; v. 41.
• Subjects: robotika; kinematika; roboty; robotics; kinematics; robots; elektronické knihy; monografie; electronic books; monographs

This book presents the singular configurations associated with a robot mechanism, together with robust methods for their computation, interpretation, and avoidance path planning. Having such methods is essential as singularities generally pose problems to the normal operation of a robot, but also de...