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© 2019

Singular Configurations of Mechanisms and Manipulators

  • Andreas Müller
  • Dimiter Zlatanov

Benefits

  • Offers a comprehensive and concise introduction to the problem of singularities in mechanical systems and robots, its mathematical origin, and its consequences for application

  • Presents a unique arrangement covering contributions of the leading researchers in the field of singularities of robotic manipulators

  • Provides a necessary complement to classical books on robot kinematics covering the singularity aspect of robot motion

Book

Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 589)

Table of contents

  1. Front Matter
    Pages i-ix
  2. Dimiter Zlatanov
    Pages 1-38
  3. Philippe Wenger
    Pages 67-99
  4. Manfred L. Husty, Dominic R. Walter
    Pages 101-180

About this book

Introduction

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.

Keywords

robot singularity robot self motion mechanism motion bifurcation singular screw systems platform singularity configuration space singularity instantaneous increase of mobility

Editors and affiliations

  • Andreas Müller
    • 1
  • Dimiter Zlatanov
    • 2
  1. 1.Institute of RoboticsJohannes Kepler University Linz (JKU)LinzAustria
  2. 2.Department of Mechanical EngineeringUniversity of GenoaGenoaItaly

Bibliographic information

  • Book Title Singular Configurations of Mechanisms and Manipulators
  • Editors Andreas Müller
    Dimiter Zlatanov
  • Series Title CISM International Centre for Mechanical Sciences
  • Series Abbreviated Title CISM Courses and Lectures
  • DOI https://doi.org/10.1007/978-3-030-05219-5
  • Copyright Information CISM International Centre for Mechanical Sciences 2019
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-030-05218-8
  • eBook ISBN 978-3-030-05219-5
  • Series ISSN 0254-1971
  • Series E-ISSN 2309-3706
  • Edition Number 1
  • Number of Pages IX, 229
  • Number of Illustrations 62 b/w illustrations, 64 illustrations in colour
  • Topics Mechanical Engineering
    Robotics and Automation
  • Buy this book on publisher's site
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