Advances in Robot Kinematics: Analysis and DesignJadran Lenarčič, Philippe Wenger This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. |
Contents
| 3 | |
| 13 | |
Constraint Singularities and the Structural Parameters of Parallel Robots | 21 |
Forward Kinematics and Singularity Analysis of a 3RPR Planar Parallel | 29 |
Geometric Algebra Approach to Singularity of Parallel Manipulators with | 39 |
SinguLab A Graphical User Interface for the Singularity Analysis | 49 |
Singularity Analysis of LimitedDOF Parallel Manipulators Using | 59 |
On the Design of Fully Constrained Parallel CableDriven Robots | 71 |
J F Gauthier J Angeles and S Nokleby | 235 |
Samir Lahouar Saïd Zeghloul and Lotfi Romdhane | 243 |
J A Carretero I Ebrahimi and R Boudreau | 253 |
Ofelia G AlbaGómez J Alfonso Pamanes and Philippe Wenger | 263 |
New SelfMotions of Parallel Manipulators 275 | 274 |
Exact Envelope Computation for Moving Surfaces with Quadratic Support | 283 |
A CompoundStructureFrame for Improving the Performance of | 291 |
Transitions between Multiple Solutions of the Direct Kinematic Problem | 301 |
Synthesis of Part Orienting Devices for Spatial Assembly Tasks | 79 |
Minimum Energy Manipulator Design 89 | 88 |
A Rojas Salgado and Y Ledezman Rubio | 101 |
A Nonholonomic 3DOF Parallel Robot | 111 |
4DOF Parallel Architecture for Laparoscopic Surgery | 119 |
Mohammad Aamir Khan Matteo Zoppi and Rezio Molfino | 127 |
Extended Jacobian Inverse Kinematics and Approximation of Distributions 137 | 136 |
A Screw Syzygy with Applications to Robot Singularity Computation | 147 |
Selig and Peter Donelan | 155 |
Krzysztof Tchon and Łukasz Małek | 165 |
Karl Wohlart | 177 |
Genericity Conditions for Serial Manipulators | 185 |
Alternative Forms for Displacement Screws and Their Pitches | 193 |
TimeInvariant Strategies in Coordination of Human Reaching 205 | 204 |
Mobility and Higher Order Local Analysis of the Configuration Space | 215 |
Optimization of a Test Trajectory for SCARA Systems | 225 |
Kinetostatic Performance of a Planar Parallel Mechanism with Variable | 311 |
Results on Planar Parallel Manipulators with Cylindrical Singularity | 321 |
Stiffness Matrix of Compliant Parallel Mechanisms | 331 |
A Pair of Measures of Rotational Error for Axisymmetric Robot | 345 |
AngularVelocity Estimation from the Centripetal Component of | 353 |
Philippe Cardou and Jorge Angeles | 361 |
Parallel Robot Calibration by Working Mode Change 371 | 370 |
Augmented Model of the 3PRS Manipulator for Kinematic Calibration | 381 |
The Calibration of a Parallel Manipulator with Binary Actuation | 391 |
JeanSébastien Plante and Steven Dubowsky | 399 |
A Geometrical Characterization of Workspace Singularities in | 409 |
Husty E Ottaviano and M Ceccarelli | 419 |
Crane III Jahan Bayat Vishesh Vikas and Rodney Roberts | 429 |
On the Delassus Parallelogram | 439 |
Kinematic Modeling and Workspace Generation for a New Paralell Robot | 459 |
Other editions - View all
Advances in Robot Kinematics: Analysis and Design Jadran Lenarčič,Philippe Wenger No preview available - 2010 |
Advances in Robot Kinematics: Analysis and Design Jadran Lenarčič,Philippe Wenger No preview available - 2009 |
Common terms and phrases
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