This book presents the most recent research advances in the theory,
design, control and application of robotic systems, which are
intended for a variety of purposes such as manipulation,
manufacturing, automation, surgery, locomotion and biomechanics.
The issues addressed are fundamentally kinematic in nature,
including synthesis, calibration, redundancy, force control,
dexterity, inverse and forward kinematics, kinematic singularities,
as well as over-constrained systems. Methods used include line
geometry, quaternion algebra, screw algebra, and linear algebra.
These methods are applied to both parallel and serial
multi-degree-of-freedom systems. The results should interest
researchers, teachers and students, in fields of engineering and
mathematics related to robot theory, design, control and
application. All articles in the book were reported at the seventh
international symposium on Advances in Robot Kinematics that was
organised in June 2000 in the beautiful ancient Mediterranean town
of Piran in Slovenia. The preceding symposia of the series took
place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana
(1994), and Piran (1996), and Salzburg (1998).
General
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