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Robots and SCREW theory : applications of kinematics and statics to robotics

Author: Joseph K Davidson; K H Hunt
Publisher: Oxford ; New York : Oxford University Press, 2004.
Edition/Format:   Print book : EnglishView all editions and formats
Summary:
This work describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. The principles developed can be applied to both control of robots and the design of their major moving parts.
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Material Type: Internet resource
Document Type: Book, Internet Resource
All Authors / Contributors: Joseph K Davidson; K H Hunt
ISBN: 0198562454 9780198562450
OCLC Number: 52970048
Description: xvii, 458 pages : illustrations ; 25 cm
Contents: 1. planar serial robot-arm --
2. Describing the screw --
3. Analysing the screw --
4. Transformations for coordinates that locate a rigid body --
5. Linear dependence : reciprocity of screws : linear and non-linear screw systems --
6. Spatial serial robot-arms --
7. assembly-configurations of serial robot-arms --
8. In-parallel actuation I : simple and direct --
9. In-parallel actuation II : combinations with serial devices --
10. Redundant robotic systems --
11. Static stability in legged vehicles --
App. A. Some useful expressions for lines --
App. B. screw as a point in projective five-space --
App. C. finite twist and Eduard study's coordinates --
App. D. Computer file for chapter 10.
Responsibility: Joseph K. Davidson and Kenneth H. Hunt.
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Abstract:

Describes the mathematical foundations, especially geometric, underlying the motions and force-transfers in robots. Containing many illustrative examples and over 300 exercises, this book is suitable  Read more...

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[Davidson and Hunt's] dedication to the analysis of the various cases considered is admirable and the degree of detail that they have expressed makes this work invaluable to those taking final Read more...

 
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