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Screw Theory and its Application to Spatial Robot Manipulators.
・ISBN 978-0-521-63089-4 hard GB£ 120.00
￥38,016.- (税込) ※（※）価格はご注文時の参考価格となります。
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| 著者・編者 | Crane, III, Carl D. / Griffis, Michael / Duffy, Joseph, |
|---|---|
| 出版社 | (Cambridge University Press, UK) |
| 出版年月 | 2022 |
| ページ数 | 224 pp. |
| 言語 | ENG |
| ニュース番号 | ＜A00-585＞ |
解説
Discover a fresh take on classical screw theory and understand the geometry embedded within robots and mechanisms with this essential text. The book begins with a geometrical study of points, lines, and planes and slowly takes the reader toward a mastery of screw theory with some cutting-edge results, all while using only basic linear algebra and ordinary vectors. It features a discussion of the geometry of parallel and serial robot manipulators, in addition to the reciprocity of screws and a singularity study. All 41 essential screw systems are unveiled, establishing the possible freedom twists and constraint wrenches for a kinematic joint. Familiarizing the reader with screw geometry in order to study the statics and kinematics of robots and mechanisms, this is a perfect resource for engineers and graduate students.