Robotics Research Technical Report (Classic Reprint)

Leo Joskowicz

ISBN 10: 1332089232 / ISBN 13: 9781332089239

Editore: Forgotten Books, 2018

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Print on Demand. This book presents a new framework to analyze mechanical devices by describing their possible behaviors in terms of the configuration space of the mechanism. A configuration space is a geometric representation of all the possible positions and orientations of every part in the mechanism. Different subsets of this configuration space correspond to different possible motions of the parts. This allows the author to characterize all the qualitatively different motions of a mechanical device as regions in a region diagram. The author shows how to obtain the region diagram of a fixed axis mechanism by composing pairwise configuration spaces. This approach greatly simplifies the analysis of complex mechanisms, and provides a powerful tool for understanding their behavior. This book is a reproduction of an important historical work, digitally reconstructed using state-of-the-art technology to preserve the original format. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in the book.

Codice articolo 9781332089239_0

Dati bibliografici

• Titolo: Robotics Research Technical Report (Classic Reprint)
• Editore: Forgotten Books
• Data di pubblicazione: 2018
• Lingua: Inglese
• ISBN 10: 1332089232
• ISBN 13: 9781332089239
• Rilegatura: Paperback
• Condizione: New
• Tipo di libro: print-on-demand item
• Cataloghi dei venditori:
  • Physics

Descrizione articolo

Riassunto

Excerpt from Robotics Research Technical Report: A Framework for the Kinematic Analysis of Mechanical Devices

Deducing the behavior of a device from its structural description is necessary to carry a number of tasks such as explanation, diagnosis and design. In all three cases we must be able to determine the possible behaviors of a device so that we can either produce a causal explanation, determine the fault by comparing the observed behavior with the desired behavior or introduce structural changes to achieve the desired behavior. For these tasks, envisioning'and prediction of behavior are of particular importance. Given a structural description of a mechanism in terms of its parts, their shapes and an initial position, envisioning consists of determining all the possible motions of each part and their relationships. Given a sequence of motions applied to various parts of the mechanism, prediction of behavior consists of determining the actual motions of each part and their relationships. Furthermore, a qualitative description of these behaviors is desirable to produce good explanations and guide the diagnosis or design process.

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This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.