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Robot Analysis. The Mechanics of Serial and Parallel Manipulators
Description: Complete, state–of–the–artcoverage of robot analysis This unique book provides the fundamental knowledge needed for understanding the mechanics of both serial and parallel manipulators. Presenting fresh and authoritative material onparallel manipulators that is not available in any other resource, it offers an in–depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis ofboth types of manipulators, including a discussion of industrial and research applications. It also features: * The homotopy continuation method and dialytic elimination method for solving polynomialsystems that apply to robot kinematics * Numerous worked examples and problems to reinforce learning * An extensive bibliography offering many resources for more advanced study Drawing on Dr. Lung–WenTsai's vast experience in the field as well as recent research publications, Robot Analysis is a first–rate text for upper–level undergraduate and graduate students in mechanical engineering,electrical engineering, and computer studies, as well as an excellent desktop reference for robotics researchers working in industry or in government.

Contents:

Position Analysis of Serial Manipulators.Position Analysis of Parallel Manipulators. Jacobian Analysis of Serial Manipulators. Jacobian Analysis of Parallel Manipulators. Statics and Stiffness Analysis. Wrist Mechanisms. Tendon–DrivenManipulators. Dynamics of Serial Manipulators. Dynamics of Parallel Manipulators. Appendices. Index.

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