From ships and airplanes to robots and space vehicles it's all here: how to design the safest and most efficient path trajectories possible. Optimized-Motion Planning is the first handbook to the practical specifics of motion planning that gives design engineers hands-on guidance for solving real motion planning problems in a 3-dimensional space. Complete with a disk of software programs, this unique guide allows users to design, test, and implement possible solutions, useful in a host of contexts, especially tool path planning.
The nucleus of the book consists of several motion planning algorithms (with sample programs for the different algorithms on disk), which have been designed to: Provide optimized solutions for a wide range of problems, including motion planning for multibody systems in 3-dimensional space Automatically comply with given dynamic constraints Progress logically from a simple case of a point moving between polygons in 2-dimensional space to the more complex cases of nonpoint objects moving between 3-dimensional obstacles Optimized-Motion Planning is a practical, complete, and fascinating introduction to designing the safest trajectories for the vehicles that support our way of life as well as a guidebook to one of the new technological imperatives of the coming century.
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Höhe: 243 mm
Breite: 163 mm
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978-0-471-01903-9 (9780471019039)
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About the authors CHERIF AHRIKENCHEIKH is a postdoctoral fellow in the Department of Mechanical Engineering at the University of Wisconsin at Madison. He graduated with high honors from the National Polytechnic Institute of Algeria in 1983 and was awarded the Algerian Government Scholarship for study abroad in 1984. He received the first prize in graduate research in Expo '91 and is a member of the science honorary society Sigma Xi. Dr. Ahrikencheikh received his PhD from the University of Wisconsin. ALl SEIREG is Kaiser Professor at the University of Wisconsin at Madison and Ebaugh Professor at the University of Florida at Gainesville. He has had an extensive career in engineering education and industry and served as consultant to numerous industrial, governmental, and scientific organizations. He was the founding chairman of the Computer Engineering Division of ASME and the founding editor of the ASME Computer in Engineering Journal CIME. He has served as chairman of the ASME Council on Engineering and on the Executive Council of the International Federation of Theory of Machines and Mechanisms. He has received many honors and awards including the 1970 George Westinghouse Award of the ASEE, the ASME Machine Design Award in 1978, and the ASME Design Automation Award in 1990. He was elected honorary member in the Chinese Mechanical Engineering Society in 1986, and a Foreign Member of the Russian Academy of Science in 1988. Dr. Seireg received his PhD from the University of Wisconsin.
Problem Description and Literature Review. OPTIMUM MOTION OF A POINT BETWEEN STATIONARY POLYGONS. Data Organization and Storage. Passage-Network Construction. Feasibility Chart and Path Optimization. MOTION PLANNING IN SITUATIONS WITH MORE THAN TWO DEGREES OF FREEDOM. Optimized Path of a Point Between Stationary Polyhedra. Optimized Motion of a Point Between Stationary Polyhedra. Optimized Body Motion Between Stationary or Moving Obstacles. Optimized-Motion Planning for Robot Manipulators. References. Appendices. Index.
