000 02562nam a22003618i 4500
001 CR9780511530159
003 UkCbUP
005 20200124160324.0
006 m|||||o||d||||||||
007 cr||||||||||||
008 090409s1998||||enk o ||1 0|eng|d
020 _a9780511530159 (ebook)
020 _z9780521570633 (hardback)
020 _z9780521047937 (paperback)
040 _aUkCbUP
_beng
_erda
_cUkCbUP
050 0 0 _aTJ211.412
_b.C7 1998
082 0 0 _a629.8/92
_221
100 1 _aCrane, Carl D.
_q(Carl David),
_d1956-
_eauthor.
245 1 0 _aKinematic analysis of robot manipulators /
_cCarl D. Crane III and Joseph Duffy.
264 1 _aCambridge :
_bCambridge University Press,
_c1998.
300 _a1 online resource (xii, 429 pages) :
_bdigital, PDF file(s).
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
500 _aTitle from publisher's bibliographic system (viewed on 05 Oct 2015).
505 0 0 _g1.
_tIntroduction --
_g2.
_tCoordinate transformations --
_g3.
_tManipulator kinematics --
_g4.
_tForward kinematic analysis --
_g5.
_tReverse kinematic analysis problem statement --
_g6.
_tSpherical closed-loop mechanisms --
_g7.
_tDisplacement analysis of group 1 spatial mechanisms --
_g8.
_tGroup 2 spatial mechanisms --
_g9.
_tGroup 3 spatial mechanisms --
_g10.
_tGroup 4 spatial mechanisms --
_g11.
_tCase studies --
_g12.
_tQuaternions.
520 _aA robot manipulator is a movable chain of links interconnected by joints. One end 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 to the subject of robot manipulators. Next, it describes in detail a forward and reverse 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. Case studies 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.
650 0 _aRobots
_xKinematics.
650 0 _aManipulators (Mechanism)
700 1 _aDuffy, Joseph,
_d1937-2002,
_eauthor.
776 0 8 _iPrint version:
_z9780521570633
856 4 0 _uhttps://doi.org/10.1017/CBO9780511530159
999 _c522081
_d522079