| Description |
1 online resource |
| Contents |
Cover -- Half-title -- Title page -- Copyright information -- Contents -- Preface -- 1 Geometry of Points, Lines, and Planes -- 1.1 Introduction -- 1.2 The Position Vector of a Point -- 1.3 The Equation of a Plane -- 1.3.1 Sample Problem -- 1.3.2 Sample Problem -- 1.4 Projection of a Point onto a Plane -- 1.5 The Equation of a Line -- 1.5.1 Sample Problem -- 1.6 Two Planes Determine a Line -- 1.7 The Pencil of Planes through a Line -- 1.7.1 The Plane Defined by a Line and a Point -- 1.7.2 The Plane That Contains a Line and Is Parallel to a Second Line |
|
1.7.3 The Plane Defined by a Pair of Parallel Lines -- 1.8 A Line and a Plane Determine a Point -- 1.9 Determination of the Point on a Line That Is Closest to a Given Point -- 1.10 The Mutual Moment of Two Lines -- 1.10.1 Numerical Example -- 1.11 Determination of the Unique Perpendicular Line to Two Given Lines -- 1.12 A Pair of Intersecting Lines -- 1.12.1 Approach 1 -- 1.12.2 Approach 2 -- 1.13 Summary -- 1.14 Problems -- 2 Coordinate Transformations and Manipulator Kinematics -- 2.1 Introduction -- 2.2 Relative Pose of Two Coordinate Systems -- 2.3 Transformations of Points |
|
2.4 Inverse of a Transform -- 2.5 Standard Transformations -- 2.6 General Transformations -- 2.6.1 Determination of Equivalent Rotation Matrix -- 2.6.2 Determination of Axis and Angle of Rotation -- 2.7 Transformation of Direction Vectors -- 2.8 Transformation of Lines -- 2.9 Transformations of Planes -- 2.10 Spatial Links and Joints -- 2.10.1 Spatial Link -- 2.10.2 Revolute Joint (R) -- 2.10.3 Prismatic Joint (P) -- 2.10.4 Cylindrical Joint (C) -- 2.10.5 Screw Joint (H) -- 2.10.6 Higher Order Joints -- 2.11 Labeling of a Kinematic Chain -- 2.11.1 Step 1: Label the Joint Axis Vectors |
|
2.11.2 Step 2: Label the Link Vectors -- 2.11.3 Step 3: Label the Joint Angles and Twist Angles -- 2.11.4 Step 4: Label the Offset and Link Lengths -- 2.11.5 Step 5: Compilation of Mechanism Parameters -- 2.12 Standard Link Coordinate Systems -- 2.13 Summary -- 2.14 Problems -- 3 Statics of a Rigid Body -- 3.1 Introduction -- 3.2 The Coordinates of a Force -- 3.3 The Coordinates of a Couple -- 3.4 Translation of a Force: Equivalent Force/Couple Combination -- 3.5 A Dyname and a Wrench -- 3.5.1 Sample Problem -- 3.6 Transformation of Screw Coordinates -- 3.6.1 Sample Problem |
|
3.7 Forward and Reverse Static Analysis of In-Parallel Platform Devices -- 3.8 Forward and Reverse Static Analysis of a Serial Manipulator -- 3.8.1 Sample Problem -- 3.8.2 Sample Problem -- 3.9 The Resultant of a Pair of Wrenches Acting Upon a Rigid Body -- 3.10 The Cylindroid -- 3.11 Circular Representation of the Cylindroid -- 3.12 Motor Product -- 3.13 Problems -- 4 Velocity Analysis -- 4.1 Introduction -- 4.2 Time Derivative of a Vector -- 4.2.1 Case 1: Points A and B Embedded in Body 0 -- 4.2.2 Case 2: Point A Embedded in Body 0 and Point B Embedded in Body 1 |
|
4.2.3 Case 3: Points A and B Embedded in Body 1 |
| Summary |
Understand the geometry embedded within robots and mechanisms using classical screw theory and analytical geometry with this essential text |
| Notes |
Online resource; title from digital title page (viewed on September 16, 2022) |
| Subject |
Robotics -- Mathematics
|
|
Manipulators (Mechanism) -- Mathematics
|
|
Screws, Theory of.
|
|
Robotics -- Mathematics
|
|
Screws, Theory of
|
| Form |
Electronic book
|
| Author |
Griffis, Michael, author.
|
|
Duffy, Joseph, author
|
| ISBN |
9781139019217 |
|
113901921X |
|
1009301764 |
|
9781009301763 |
|
