Author | Angeles, Jorge. author |
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Title | Rational Kinematics [electronic resource] / by Jorge Angeles |
Imprint | New York, NY : Springer New York, 1988 |
Connect to | http://dx.doi.org/10.1007/978-1-4612-3916-1 |
Descript | XII, 121 p. online resource |
1 Preliminary Notions -- 1.1 Introduction -- 1.2 On Notation and Basic Definitions -- 1.3 Further Definitions -- 1.4 Invariance -- 1.5 Generalized Inverses -- 2 Displacement of a Rigid Body -- 2.1 Introduction -- 2.2 Rotation of a Rigid Body About a Fixed Point -- 2.3 The Theorem of Euler -- 2.4 The Rotation Tensor -- 2.5 General Motion of a Rigid Body. The Pose and the Screw of a Rigid Body -- 2.6 Theorems About the General Motion of a Rigid Body -- 2.7 Compatibility Equations -- 3 Velocity Analysis of Rigid-Body Motions -- 3.1 Introduction -- 3.2 Motion of a Rigid Body About a Fixed Point -- 3.3 General Instantaneous Motion of a Rigid Body. The Twist of a Rigid Body -- 3.4 Further Results on the Velocity Distribution Throughout a Rigid Body -- 3.5 Compatibility Equations -- 4 Acceleration Analysis of Rigid-Body Motions -- 4.1 Introduction -- 4.2 Acceleration Field of a Body Moving About a Fixed Point -- 4.3 Acceleration Field of a Rigid Body Under General Motion -- 4.4 Change of Observer. Coriolisโ Theorem -- 4.5 Determination of Angular Acceleration. Compatibility Equations -- 5 Kinematic Chains -- 5.1 Introduction -- 5.2 Kinematic Pairs. Classification -- 5.3 Simple Kinematic Chains. Degree of Freedom by Groups of Motion -- 5.4 The Twist of a Link and the Jacobian of a Simple Kinematic Chain -- 5.5 The Condition Number of a Kinematic Chain. Isotropy -- 5.6 Complex Kinematic Chains. An Overview -- 5.7 The Jacobian of a Multiple-Closed-Loop Kinematic Chain. Degree of Freedom -- 5.8 Holonomic and Nonholonomic Constraints -- 5.9 Analysis of Kinematic Chains -- 5.10 Synthesis of Kinematic Chains -- References