Mendeley出力
＜図書＞
A geometric investigation of reach
| 責任表示 | James Urey Korein |
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| シリーズ | ACM distinguished dissertations |
| データ種別 | 図書 |
| 出版情報 | Cambridge, Mass. : MIT Press , c1985 |
| 本文言語 | 英語 |
| 大きさ | 208 p. : ill. ; 24 cm |
| 概要 | This book focuses on a problem of fundamental importance in the robotics field, that of manipulating a geometric linkage resembling a human arm (or leg) with the intent of reaching specific points in ...pace. Many analytic and numerical solutions have been developed for robot manipulators. Recently, a number of researchers have begun to investigate methods for the generation of manipulator workspaces (sometimes called reach envelopes). This work offers two new solutions to the reach problem-an analytic solution for the special case of singly redundant chains of the type exemplified by human arms and legs, and a solution for chains of arbitrary length which makes use of workspace descriptions. An algorithm is also developed for the approximation of workspaces by polyhedra, leading to an examination of the problem of sweeping polyhedra through space. Contents: Introduction; Body Model; Joint Adjustment and Limitations; Overview of the Cartesian Positioning Problem; Analytic Positioning Methods; Numerical/Optimization Methods; Reach Hierarchy Methods; Workspace Generation; Sweeping Polyhedra; Conclusions; The Modelling System. James U. Korein received his doctorate from the University of Pennsylvania. He is currently a researcher at IBM Thomas J. Watson Research Center, Yorktown Heights, NY A Geometric Investigation of Reach is a 1984 ACM Distinguished Dissertation. 続きを見る |
所蔵情報
| 状態 | 巻次 | 所蔵場所 | 請求記号 | 刷年 | 文庫名称 | 資料番号 | コメント | 予約・取寄 | 複写申込 | 自動書庫 |
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理系図3F 数理独自 | KORE/10/1 | c1985 |
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068222187004620 |
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書誌詳細
| 一般注記 | Thesis (Ph. D.)--University of Pennsylvania, 1984 Bibliography: p. [196]-206 Includes index |
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| 著者標目 | *Korein, James Urey |
| 件 名 | LCSH:Links and link-motion LCSH:Machinery, Kinematics of LCSH:Robotics |
| 分 類 | LCC:TJ182 DC19:620.8/2 |
| 書誌ID | 1001385875 |
| ISBN | 0262111047 |
| NCID | BA03850672 |
| 巻冊次 | ISBN:0262111047 |
| 登録日 | 2009.11.02 |
| 更新日 | 2009.11.02 |