A robot manipulator is a movable chain of links interconnected by joints. Oneend 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 tothe subject of robot manipulators. Next, it describes in detail a forward andreverse 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. Casestudies 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. INDICE: Preface; 1. Introduction; 2. Coordinate transformations; 3. Manipulator kinematics; 4. Forward kinematic analysis; 5. Reverse kinematic analysisproblem statement; 6. Spherical closed-loop mechanisms; 7. Displacement analysis of group 1 spatial mechanisms; 8. Group 2 spatial mechanisms; 9. Group 3 spatial mechanisms; 10. Group 4 spatial mechanisms; 11. Case studies; 12. Quaternions; Appendix; References; Index.
- ISBN: 978-0-521-04793-7
- Editorial: Cambridge University Press
- Encuadernacion: Rústica
- Páginas: 429
- Fecha Publicación: 03/01/2008
- Nº Volúmenes: 1
- Idioma: Inglés