This e-book offers the singular configurations linked to a robotic mechanism, including strong equipment for his or her computation, interpretation, and avoidance course making plans. Having such tools is key as singularities often pose difficulties to the conventional operation of a robotic, but in addition make sure the workspaces and movement impediments of its underlying mechanical constitution. a particular characteristic of this quantity is that the tools are appropriate to nonredundant mechanisms of common structure, outlined through planar or spatial kinematic chains interconnected in an arbitrary means. additionally, singularities are interpreted as silhouettes of the configuration area while noticeable from the enter or output areas. This ends up in a strong photograph that explains the results of traversing singular configurations, and all of the wealthy info that may be extracted from them. the issues are solved via powerful branch-and-prune and numerical continuation tools which are of autonomous curiosity in themselves. the speculation could be positioned into perform to boot: a spouse online page provides open entry to implementations of the algorithms and the corresponding enter documents. utilizing them, the reader can achieve hands-on adventure at the subject, or examine new mechanisms past these tested within the textual content. total, the ebook contributes new instruments for robotic layout, and constitutes a unmarried reference resource of data that's differently dispersed within the literature.
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