Analysis And Design Of Spatial Manipulators : An Exact Algebraic Approach Using Dual Numbers And Symbolic Computation

Analysis And Design Of Spatial Manipulators : An Exact Algebraic Approach Using Dual Numbers And Symbolic Computation

This thesis presents a unified framework for the analysis of instantaneous kinematics and statics of spatial manipulators. The proposed formulation covers the entire range of kinematic behavior, with kinematic singularity and isotropy appearing as special cases. An analogous treatment of statics is a...

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Bibliographic Details
Main Author: Bandyopadhyay, Sandipan
Other Authors: Ghosal, Ashitava
Language:en_US
Published: 2008
Subjects:
Symbolic Computation
Computational Algebra
Algebraic Logic
Dual Algebra
Spatial Manipulators
Dual Numbers
Canonical Forms
Automatic Control Engineering
Online Access:http://hdl.handle.net/2005/384

Internet

http://hdl.handle.net/2005/384

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