Finite and Instantaneous Screw Theory in Robotic Mechanism

Beschreibung

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.
The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.

This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms.The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications.
Presents the general format and in-depth computation algorithms of finite screws, and the differential mapping between finite and instantaneous screws Offers detailed insights into the systematic development of robotic mechanisms, including topology invention, performance modeling, optimal design and kinematic calibration Includes generic methodology with rigorous proofs and case studies on the widely used robotic mechanisms to aid understanding

Autor*in

Tao Sun

Themen in »Finite and Instantaneous Screw Theory in Robotic Mechanism«

Robotic Mechanism Articulated Serial Robot Parallel Mechanism Finite Motion Instantaneous Motion Twist and Wrench Type Synthesis Motion Pattern Forward Kinematic Inverse Kinematic Virtual Joint Method Dynamic Jacobian Matrix Hessian Matrix Parameter Uncertainty

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