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Page 182

Problem formulation In order to determine optimal controls (torques/forces) of a

robot, it is necessary to know dynamic

manipulator. In what follows, we assume that they are of the following general ...

Problem formulation In order to determine optimal controls (torques/forces) of a

robot, it is necessary to know dynamic

**equations**of the redundant/non-redundantmanipulator. In what follows, we assume that they are of the following general ...

Page 222

This implies that matrix F is square when the number of positioned coordinates is

equal to the number of manipulated coordinates. In addition, if matrix F is

invertible, we have the following two

lC6rp ...

This implies that matrix F is square when the number of positioned coordinates is

equal to the number of manipulated coordinates. In addition, if matrix F is

invertible, we have the following two

**equations**: 6rm = -SuF-lC6rp (6) 6rn = -SDF-lC6rp ...

Page 289

< ecn6} of critical values for 8 in the interval [0, 2n) can be enumerated by solving

a set of quadratic inequalities obtained using

Within the interval 0ci+i), the topology of C(A,B) stays the same. Hence, this

interval is ...

< ecn6} of critical values for 8 in the interval [0, 2n) can be enumerated by solving

a set of quadratic inequalities obtained using

**Equation**(4) for every point Py.Within the interval 0ci+i), the topology of C(A,B) stays the same. Hence, this

interval is ...

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### Contents

ASSEMBLY | 1 |

FeatureBased Assembly Model and MultiAgents System structure for ComputerAided Assembly | 8 |

Construction of the Precedence Graphs Equivalent to a Given Set of Assembly Sequences | 14 |

Copyright | |

44 other sections not shown

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algorithm analysis applied approach Archimedes 4.0 Assembly and Task assembly features assembly modeling assembly planning assembly process assembly sequence assembly systems automated assembly automatically axis components Computer Conf configuration configuration space constraint manager constraints cost defined described Design for Assembly developed disassembly Engineering evaluation example feasible fixturing flexible force framework function Genetic Algorithms geometric gripper IEEE IEEE International Symposium implemented input integration joint kinematic kinematic pairs machine manipulator manufacturing matrix method module motion planning node object obtained optimal orientation path planning path representation performed planner Portugal position precedence graph problem Proc process planning product design recycling representation represented Robotics and Automation rotation screw theory shown in Figure simulation solution space specific step strategy structure subassembly Symposium on Assembly Task Planning Porto tool trajectory twistmatrix variables vector workcell workstation