Robots and screw theory: applications of kinematics and statics to robotics
Gespeichert in:
| Beteiligte Personen: | , |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
Oxford
Oxford Univ. Pr.
2004
|
| Ausgabe: | 1. publ. |
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012043829&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XVII, 458 S. graph. Darst. |
| ISBN: | 0198562454 |
Internformat
MARC
| LEADER | 00000nam a2200000 c 4500 | ||
|---|---|---|---|
| 001 | BV019292242 | ||
| 003 | DE-604 | ||
| 005 | 20081114 | ||
| 007 | t| | ||
| 008 | 040507s2004 xx d||| |||| 00||| eng d | ||
| 020 | |a 0198562454 |9 0-19-856245-4 | ||
| 035 | |a (OCoLC)52970048 | ||
| 035 | |a (DE-599)BVBBV019292242 | ||
| 040 | |a DE-604 |b ger |e rakwb | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-91G |a DE-703 |a DE-83 |a DE-11 | ||
| 050 | 0 | |a TJ211 | |
| 082 | 0 | |a 629.8/92 |2 22 | |
| 084 | |a ST 308 |0 (DE-625)143655: |2 rvk | ||
| 084 | |a ZQ 6250 |0 (DE-625)158184: |2 rvk | ||
| 084 | |a FER 980f |2 stub | ||
| 100 | 1 | |a Davidson, Joseph K. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Robots and screw theory |b applications of kinematics and statics to robotics |c Joseph K. Davidson and Kenneth H. Hunt |
| 250 | |a 1. publ. | ||
| 264 | 1 | |a Oxford |b Oxford Univ. Pr. |c 2004 | |
| 300 | |a XVII, 458 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 650 | 4 | |a Robotique | |
| 650 | 4 | |a Robotics | |
| 650 | 0 | 7 | |a Theorie |0 (DE-588)4059787-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Roboter |0 (DE-588)4050208-9 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Roboter |0 (DE-588)4050208-9 |D s |
| 689 | 0 | 1 | |a Theorie |0 (DE-588)4059787-8 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Hunt, Kenneth H. |e Verfasser |4 aut | |
| 856 | 4 | 2 | |m HEBIS Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012043829&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-012043829 | |
Datensatz im Suchindex
| DE-BY-TUM_call_number | 0702 FER 980f 2004 A 163 |
|---|---|
| DE-BY-TUM_katkey | 1470878 |
| DE-BY-TUM_location | 07 |
| DE-BY-TUM_media_number | 040070917296 |
| _version_ | 1821933006171930624 |
| adam_text | Robots and Screw Theory:
Applications of Kinematics and
Statics to Robotics
Joseph K DAVIDSON
Professor of Mechanical Engineering
Arizona State University
and
Kenneth H HUNT
Late Emeritus Professor of Mechanical Engineering
Monash University
OXFORD
UNIVERSITY PRESS
Contents
PREFACE xv
1 THE PLANAR SERIAL ROBOT-ARM 1
1 1 Introduction 1
1 2 Freedom of the End-effector 2
1 3 The Instantaneous Centres in a Planar Robot-arm 3
131 The ‘Inverse Velocity-problem’ Solved by Instantaneous Centres 4
132 Instantaneous Kinematics and Static Equilibrium 6
133 The ‘Forward Velocity-problem’ Solved by Instantaneous Centres 7
Exercises 1A 7
1 4 Velocities by Superposition 8
1 5 The Linear Sliding Joint 13
1 6 Torques at the Actuated Joints 15
1 7 The Assembly-configurations of a Planar Robot-arm 17
Exercises IB 19
1 8 Foreshadowing the Spatial Serial Robot-arm 21
2 DESCRIBING THE SCREW 23
2 1 The Screw in Mechanics 23
211 The Screw in Statics 23
212 The Screw in Instantaneous Kinematics 25
213 Other Applications in Mechanics 29
2 2 The Finite Twist 30
2 3 Freedom and Constraint of a Rigid Body 31
2 4 Twists, Wrenches, and Screws Summarized 33
Exercises 2A 34
3 ANALYSING THE SCREW 35
3 1 Background 35
3 2 Screw Coordinates 36
321 The Coordinates 36
322 Physical Interpretation of the Coordinates 37
323 The Axis and Pitch of a Screw; Normalization of its Coordinates 37
324 Homogeneity of Screw Coordinates 39
33A Line as the Join of Two Finite Points 40
Exercises 3A 42
3 4 Homogeneous Coordinates of a Point 43
341A Point in Projective Space 44
342A Line as the Join of Two Points 47
Contents
viii
3 5 Homogeneous Coordinates of a Plane 47
351A Line as the Meet of Two Planes 49
3 6 Homogeneity, Dimensions, and Units 52
3 7 Ray- and Axis-coordinate Orders for Screw Coordinates 55
3 8 Duality and Lines 55
Exercises 3B 56
4 TRANSFORMATIONS FOR COORDINATES THAT LOCATE
A RIGID BODY 59
4 1 Introduction 59
411 Coordinates 59
4 2 Coordinate Transformations for Two Dimensions 60
421 Rotational Transformations with Points 60
422 General Transformations with Points on Coplanar Laminae 63
423 Determining from [A,y] the Axis and Angle of Rotation 66
424 Determining [A/y ] from the Axis and Angle of Rotation 67
425 Transformations with Free Vectors and Planes 69
4 3 General Rotational Transformations 71
431 Successive Rotations 71
432 Rotational Transformations with Screws, Lines, Wrenches, and Twists 72
4 4 Interpretations of a Transformation 73
441 The Active Interpretation and the Active Transformation 74
Exercises 4 A 75
4 5 Coordinate Transformations for Three Dimensions 77
451 The General Transformations with Points 77
452 Transformations with Vectors and Planes 79
453 General Transformations with Screws, Lines, Wrenches, and Twists 80
4 6 The Finite Twist 84
461 The Finite Twist and the Finite Screw 84
462 The Pitch h and g-Pitch q of a Finite Twist or a Finite Screw 85
463 Determining [A,-y] from a Finite Twist $,y (q) 87
464 Determining the Finite Twist $,y (q) from [AIy ] and [$,y] 88
Exercises 4B 94
5 LINEAR DEPENDENCE: RECIPROCITY OF SCREWS:
LINEAR AND NON-LINEAR SCREW SYSTEMS 97
5 1 Linear Dependence of Points and Planes 97
5 2 The Linear Two-System of Screws 99
Exercises 5A 104
5 3 Linear Screw Systems 105
531 The One-system 105
532 The Two-system 106
533 The Three-system 107
534 The Four-system 108
Contents
ix
535 The Five-system 109
536 The Six-system 109
537 Systems that are Invariant with Finite Joint-displacements 110
Exercises 5B 110
5 4 Reciprocity of Screws 113
541A Rotating Body Acted on by a Force 113
542A Twisting Body Acted on by a Wrench 116
5 5 Reciprocity and Linear Screw Systems 119
Exercises 5C 120
5 6 Linear and Non-linear Screw Systems 121
5 7 Some Finite Displacements and Their Screw Systems 123
571 The System of Finite Screws for the Twists that Displace a Point 124
572 The System of Finite Screws for the Twists that Displace a Directed
Line a 125
573 The System of Finite Screws for the Twists that Displace a Point on
a Directed Line 128
574 Commutativity and Sequential Finite Twists 130
Exercises 5D 131
6 SPATIAL SERIAL ROBOT-ARMS 134
6 1 Introduction 134
6 2 Some Typical Six-actuator Arms 134
63A Gantry Arm 139
631 Axes of the Actuated Joints and the Jacobian 140
632 Det [J] and Special Configurations 141
633 The Reciprocal Screw at a Special Configuration 144
634 The Ubiquity of Special Configurations 144
635 The Inverse of the Jacobian 147
636 [J]~l and Special Configurations 148
637 The Gantry Arm with an ‘Offset Roll-pitch-roll’ Wrist 148
638 The ‘Pitch-yaw-roll’ Wrist 151
639 The Spherical‘3-Roll Wrist’ 153
6 3 10 Other Wrist Designs 155
Exercises 6A 156
6 4 The CM T3-566 Arm (Elbow Manipulator) 157
641 The Forward and Inverse Rate-problems 159
642 Special Configurations: Individual Conditions 160
643 Transversals and Reciprocal Screws 160
644 Special Configurations: Combinations of Conditions 162
65A Unimate PUMA Arm 164
66A Manipulator with Rotary Joints in Just Three Directions 167
6 7 General Features of Special Configurations 168
6 8 Workspace 170
681 Geometrical Constructions 171
682 Configurations of a Robot-arm when B is at the Boundary 172
X
Contents
683 Transversals and Reciprocal Screws in Workspace Identification 176
684 Influence of Excursion-limits at the Joints 177
685 Subspaces within the Reachable Point-workspace 178
686 Workspaces of Reference Planes and Lines on the End-effector 178
6 9 Five-actuator Arms 178
Exercises 6B 182
6 10 Control 186
6 10 1 Joint Control and Cartesian Control 186
6 10 2 Closing the Feedback Loop on the Task 186
6 10 3 Wrench Control and Hybrid Control 187
6 11 Torques (Forces) at the Joints of a Six-actuator Arm 188
Exercises 6C 191
7 THE ASSEMBLY-CONFIGURATIONS OF SERIAL
ROBOT-ARMS 193
7 1 Introduction 193
711 Placement of Cartesian Coordinate Frames on Links 194
712 Forward and Inverse Kinematics for Position 194
713 The Scalar Equation a cos 0+b sin (p = c 196
7 2 The Assembly-configurations of Six-actuator Robot-arms 197
721A Gantry Arm 198
722 The CM T3-566 Arm (Elbow Manipulator) 200
723A Unimate PUMA Arm 204
724 The Inverted CM T3-566 Arm with an Equivalent Spherical Joint 208
73A Five-actuator Arm 211
Exercises 7A 21
7 4 Six-actuator Robot-arms with Generally Placed Axes 215
741A Standard Placement of Cartesian Coordinate Frames on Links 21
742 The Fundamental Equations 21
743 Two Alternative Methods 22
744 The Motoman-V6 Robot-arm 22
745 Continuation Methods 22
7 5 Robot-arms with Closed-form Solutions 22
Exercises 7B 22
8 IN-PARALLEL ACTUATION I: SIMPLE AND DIRECT 22
8 1 Introduction 22
8 2 The 6-6 Fully In-parallel Manipulator 23
821 The Bricard-Borel Phenomena 23
822 Assembly Configurations 23
823 Special Configurations and Other Limitations: Generalities 23
8 3 The Octahedral Manipulator: Geometry 24
831 Polyhedra and Cauchy’s Theorem 24
832 Assembly-configurations and Concavity 24
Exercises 8A 24
Contents
xi
8 4 Transitory Kinematic Equivalence: Serial versus In-parallel 245
841 The General ‘Canonical’ Wrench-applicator and the Unactuated
Screw-support 247
842 Series-parallel Comparisons 250
843 The Wrench-applicator for a Pure Couple 253
844 The Wrench-applicator for a Pure Force 254
845 Some Variants of Wrench-applicators 255
Exercises 8B 256
8 5 Statics and Kinematics of Fully In-parallel Robots 258
851 Charts of Analogues 260
8 6 The Octahedral Manipulator: Proportions and Configurations 265
861 The Datum Configuration 266
862 Departures From the Datum Configuration 270
863A Substitution for the Double-spherical Joints 272
864 Separation of the Double-spherical Joints 273
865 Actuation of Force-applicators 276
866 Other Possible Separation Arrangements for Double-spherical Joints 277
867 An Actuated Reciprocal Connection 279
868 Cognate Octahedral Manipulators 282
Exercises 8C 283
8 7 Special Configurations: Further Observations 286
871A Case Study 286
872 Series-parallel Comparisons 290
Exercises 8D 291
9 IN-PARALLEL ACTUATION II: COMBINATIONS WITH
SERIAL DEVICES 293
9 1 Introduction 293
9 2 Two Composite Robots 294
9 3 The Force-applicator: Some Variants in Six-actuator Robots 297
9 4 Mobility, Connectivity, and Over-constraint 300
941 The General Mobility Criterion 300
942 Connectivity 301
943 One Class of Over-constrained Devices 303
Exercises 9A 303
9 5 The Adjustable Tripod as a Manipulator 304
951 Structure, Mobility, and Kinematic Substitutions 305
952 Performance and Proportions of the Tripod 306
Exercises 9B 310
9 6 Generalized Reciprocal Connections: Some Derived Robots 310
961 Three-freedom Planar-motion Robots 311
962 Homokinetic Shaft Couplings for Parallel Shafts 314
9 7 Two Planar In-parallel Robots 316
971 The Planar In-parallel Robot with Three Linear Actuators 316
972A Planar In-parallel Robot with Three Rotary Actuators 318
Contents
Exercises 9C 321
9 8 Homokinetic Coupling Robots and a Derivative 322
981A Translatory Robot Based on a Homokinetic Coupling 322
982 The Three Translatory Freedoms of the DELTA Robot 326
9 9 The Inverse Kinematics for Position of Composite and Planar In-parallel
Robots 328
991 The Planar In-parallel Robot with Three Linear Actuators 329
992A Planar In-parallel Robot with Three Rotary Actuators 330
993A Coupling Robot and the Translatory Freedoms of the DELTA Robot 331
9 10 Two Over-constrained Translatory Manipulators 334
Exercises 9D 337
10 REDUNDANT ROBOTIC SYSTEMS 338
10 1 Introduction 338
10 1 1 Kinematic Redundancy 338
10 2 Pseudoinverse Control 339
10 2 1 The Coordinates of a Screw and the Jacobian [J] 340
10 2 2 The Pseudoinverse of [J] and Other Solutions to eqns (10 3) 341
10 2 3 Solutions to eqns (10 3) by Augmenting [J] 345
10 2 4 Comparison of [J]# to [J]-1 346
10 3 The Control of a Four-axis Spherical Wrist 348
10 3 1 Overspeeding in the Three-axis Orthogonal Spherical Wrist 348
10 3 2 Pseudoinverse Control of the Four-axis Orthogonal Spherical Wrist 350
10 3 3 Redundant Serial Arms with Rotary Joints in Just Four Directions 354
10 4 Actuator-torques (Forces) at the Joints of Redundant Serial Arms 356
Exercises 10A 357
10 5 Statically Redundant Robots and Manipulators 359
10 5 1 Screw Systems at Localized Contacts 360
10 5 2 The Equilibrating and Interacting Force Fields 361
10 5 3 Frictional Contacts 363
10 5 4 The Jacobian of Force-components for Frictional Contacts 365
10 5 5 The Pseudoinverse Solution and the Equilibrating System 367
10 5 6 The Frictional Grasp of a Disc 369
10 5 7 Optimization of a Grasp Using Interacting Systems of Forces 371
Exercises 10B 374
11 STATIC STABILITY IN LEGGED VEHICLES 376
11 1 Introduction 376
11 2 Wheeled and Legged Vehicles 376
11 3 Margin of Static Stability 378
11 3 1 The Principle of Normalized Virtual Power 378
11 3 2 Other Measures for Margin of Stability 380
11 4 Application to General Locations of the Contacts 381
11 4 1 Four Contacts with the Ground 381
11 4 2 Three Contacts with the Ground 383
11 4 3 Comparison with a Horizontal Projection 383
Contents
xiii
11 5 Virtual Power Used in Control 384
11 6 A Display for Margin of Static Stability 384
11 6 1 The Rectangular Display 385
11 6 2 Three Contacts with the Ground 386
11 7 Conclusion 387
Exercises 11A 387
APPENDIX A SOME USEFUL EXPRESSIONS FOR LINES 389
APPENDIX B THE SCREW AS A POINT IN PROJECTIVE FIVE-SPACE 402
APPENDIX C THE FINITE TWIST AND EDUARD STUDY’S COORDINATES 407
APPENDIX D COMPUTER FILE FOR CHAPTER 10 417
ANSWERS TO EXERCISES 422
REFERENCES 436
|
| any_adam_object | 1 |
| author | Davidson, Joseph K. Hunt, Kenneth H. |
| author_facet | Davidson, Joseph K. Hunt, Kenneth H. |
| author_role | aut aut |
| author_sort | Davidson, Joseph K. |
| author_variant | j k d jk jkd k h h kh khh |
| building | Verbundindex |
| bvnumber | BV019292242 |
| callnumber-first | T - Technology |
| callnumber-label | TJ211 |
| callnumber-raw | TJ211 |
| callnumber-search | TJ211 |
| callnumber-sort | TJ 3211 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| classification_rvk | ST 308 ZQ 6250 |
| classification_tum | FER 980f |
| ctrlnum | (OCoLC)52970048 (DE-599)BVBBV019292242 |
| dewey-full | 629.8/92 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8/92 |
| dewey-search | 629.8/92 |
| dewey-sort | 3629.8 292 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Werkstoffwissenschaften / Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. publ. |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01574nam a2200433 c 4500</leader><controlfield tag="001">BV019292242</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20081114 </controlfield><controlfield tag="007">t|</controlfield><controlfield tag="008">040507s2004 xx d||| |||| 00||| eng d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">0198562454</subfield><subfield code="9">0-19-856245-4</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)52970048</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV019292242</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91G</subfield><subfield code="a">DE-703</subfield><subfield code="a">DE-83</subfield><subfield code="a">DE-11</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TJ211</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.8/92</subfield><subfield code="2">22</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ST 308</subfield><subfield code="0">(DE-625)143655:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZQ 6250</subfield><subfield code="0">(DE-625)158184:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">FER 980f</subfield><subfield code="2">stub</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Davidson, Joseph K.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Robots and screw theory</subfield><subfield code="b">applications of kinematics and statics to robotics</subfield><subfield code="c">Joseph K. Davidson and Kenneth H. Hunt</subfield></datafield><datafield tag="250" ind1=" " ind2=" "><subfield code="a">1. publ.</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Oxford</subfield><subfield code="b">Oxford Univ. Pr.</subfield><subfield code="c">2004</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">XVII, 458 S.</subfield><subfield code="b">graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotique</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Robotics</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Theorie</subfield><subfield code="0">(DE-588)4059787-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Roboter</subfield><subfield code="0">(DE-588)4050208-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Theorie</subfield><subfield code="0">(DE-588)4059787-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Hunt, Kenneth H.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">HEBIS Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012043829&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="943" ind1="1" ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-012043829</subfield></datafield></record></collection> |
| id | DE-604.BV019292242 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T11:44:17Z |
| institution | BVB |
| isbn | 0198562454 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-012043829 |
| oclc_num | 52970048 |
| open_access_boolean | |
| owner | DE-91G DE-BY-TUM DE-703 DE-83 DE-11 |
| owner_facet | DE-91G DE-BY-TUM DE-703 DE-83 DE-11 |
| physical | XVII, 458 S. graph. Darst. |
| publishDate | 2004 |
| publishDateSearch | 2004 |
| publishDateSort | 2004 |
| publisher | Oxford Univ. Pr. |
| record_format | marc |
| spellingShingle | Davidson, Joseph K. Hunt, Kenneth H. Robots and screw theory applications of kinematics and statics to robotics Robotique Robotics Theorie (DE-588)4059787-8 gnd Roboter (DE-588)4050208-9 gnd |
| subject_GND | (DE-588)4059787-8 (DE-588)4050208-9 |
| title | Robots and screw theory applications of kinematics and statics to robotics |
| title_auth | Robots and screw theory applications of kinematics and statics to robotics |
| title_exact_search | Robots and screw theory applications of kinematics and statics to robotics |
| title_full | Robots and screw theory applications of kinematics and statics to robotics Joseph K. Davidson and Kenneth H. Hunt |
| title_fullStr | Robots and screw theory applications of kinematics and statics to robotics Joseph K. Davidson and Kenneth H. Hunt |
| title_full_unstemmed | Robots and screw theory applications of kinematics and statics to robotics Joseph K. Davidson and Kenneth H. Hunt |
| title_short | Robots and screw theory |
| title_sort | robots and screw theory applications of kinematics and statics to robotics |
| title_sub | applications of kinematics and statics to robotics |
| topic | Robotique Robotics Theorie (DE-588)4059787-8 gnd Roboter (DE-588)4050208-9 gnd |
| topic_facet | Robotique Robotics Theorie Roboter |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012043829&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT davidsonjosephk robotsandscrewtheoryapplicationsofkinematicsandstaticstorobotics AT huntkennethh robotsandscrewtheoryapplicationsofkinematicsandstaticstorobotics |
Inhaltsverzeichnis
Paper/Kapitel scannen lassen
Paper/Kapitel scannen lassen
Teilbibliothek Maschinenwesen
| Signatur: |
0702 FER 980f 2004 A 163
Lageplan |
|---|---|
| Exemplar 1 | Ausleihbar Am Standort |