[robotics-worldwide] [news] New Springer book: Singularities of Robot Mechanisms

lluisros llros at iri.upc.edu
Fri Oct 7 03:23:44 PDT 2016

Dear colleagues,

We are happy to announce that our book on robot singularities has just been
published. We attach the book details below.

Kind regards,
Oriol Bohigas, Montserrat Manubens, and Lluís Ros

Singularities of Robot Mechanisms: 
Numerical Computation and Avoidance Path Planning

By Oriol Bohigas, Montserrat Manubens, Lluís Ros

Springer series on Mechanisms and Machine Science, Vol. 41. ​Springer, 2017. 
ISBN: 978-3-319-32920-8 (Print) 978-3-319-32922-2 (Online)
Springer page: https://urldefense.proofpoint.com/v2/url?u=http-3A__doi.org_10.1007_978-2D3-2D319-2D32922-2D2&d=DQIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=Q6eTMyea274pQH1EJp6MD-FGkARKatvx_TzoyyEe5QA&s=uMQYq8xOURq_UoNCPaoMu99GyogmiIQQGwsZjOfME9k&e= 
Book website: https://urldefense.proofpoint.com/v2/url?u=http-3A__www.iri.upc.edu_srm&d=DQIFaQ&c=clK7kQUTWtAVEOVIgvi0NU5BOUHhpN0H8p7CSfnc_gI&r=0w3solp5fswiyWF2RL6rSs8MCeFamFEPafDTOhgTfYI&m=Q6eTMyea274pQH1EJp6MD-FGkARKatvx_TzoyyEe5QA&s=1jVrL7TRpmUUZJ0Eqf3SQezXxYx9DC6SnWlVfyhTbFI&e= 

Backcover text:

This book presents the singular configurations associated with robot
mechanisms, together with robust methods for their computation,
interpretation, and avoidance path planning. Having such methods is
essential as singularities generally pose problems to the normal operation
of a robot, but also determine the workspaces and motion impediments of its
underlying mechanical structure. A distinctive feature of this book is that
the methods are applicable to nonredundant mechanisms of general
architecture, defined by planar or spatial kinematic chains interconnected
in an arbitrary way. Moreover, singularities are interpreted as silhouettes
of the configuration space when seen from the input or output spaces. This
leads to a powerful image that explains the consequences of traversing
singular configurations, and all the rich information that can be extracted
from them. The problems are solved by means of effective branchand-prune and
numerical continuation methods that are of independent interest in
themselves. The theory can be put into practice as well: a companion web
page gives open access to implementations of the algorithms and the
corresponding input files. Using them, the reader can gain hands-on
experience on the topic, or analyse new mechanisms beyond those examined in
the text. Overall, the book contributes new tools for robot design, and
constitutes a single reference source of knowledge that is otherwise
dispersed in the literature.


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