Advances in Robot Kinematics: Motion in Man and Machine

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Jadran Lenarčič, Michael M. Stanišić
Springer Science & Business Media, Jul 20, 2010 - Technology & Engineering - 551 pages
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The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.
 

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Contents

Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges
3
Dynamic Jacobian Inverses of Mobile Manipulator Kinematics
11
A Robust Forward Kinematics Analysis of 3RPR Planar Platforms
22
Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations
33
Researching into NonSingular Transitions in the Joint Space
45
MARIONET A Family of Modular WireDrivenParallel Robots
53
Using Cosserat Point Theory for EstimatingKinematics and SoftTissue Deformation DuringGait Analysis
62
PART 2
71
Overconstrained Mechanisms with Radially Reciprocating Motion
293
Control of Bipedal TurningWhile Running
301
GeometricoStatic Analysis of UnderConstrained CableDriven Parallel Robots
309
The Inverse Kinematics of 3D Towing
320
A Complete Method for Workspace Boundary Determination
329
PART 6
339
Inverse Kinematics of HumanoidRobotReaching through Human VisuoMotor Learning
341
Automated Fitting of an ElastokinematicSurrogate Mechanism for Forearm Motion from MRI Measurements
349

Mechanical Generators of 2DoF Translation along a Ruled Surface
73
WormLike Robotic Locomotion in Flexible Environment
81
Actuation Strategy Based on the Acceleration Model for the 3PRPR Redundant Planar Parallel Manipulator
90
Kinematics and Design of a 5DOF Parallel Robot Used in Minimally Invasive Surgery
99
Main Theorem on SchonfliesSingular Planar Stewart Gough Platforms
107
A Novel Actuation Module for Wearable Robots
117
Parallel Robot with Antagonistic Dielectric Elastomer Actuation for HumanMachine Interaction
127
Using Redundancy in Serial Planar Mechanisms to Improve OutputSpace Tracking Accuracy
137
PART 3
146
Combining Structural and Kinematic Analysis Using Interval Analysis for a WireDriven Manipulator
147
MultiplePoint Kinematic Control of a Humanoid Robot
157
Optimum Design of a PanTilt Drive for Parallel Robots
169
LQPBased Controller Design for Humanoid WholeBody Motion
177
Persistent Screw Systems
185
Localisation of the Instantaneous Axis of Rotation in Human Joints
195
A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle
203
Forward Kinematic Problem of 5PRUR Parallel Mechanisms Using Study Parameters
211
PART 4
222
The Development of a Reconfigurable Parallel Robot with Binary Actuators
223
On the Design of 5R Serial Manipulators with Isotropic Positioning
233
A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head
241
An Efficient Planning Algorithm for Constrained Motions
251
PART 5
261
Equilibrium Analysis of Tensegrity Structures with Elastic Ties
263
Singularity Analysis of LowerMobility Parallel Robots with an Articulated Nacelle
273
Human Motion Reconstruction and Synthesis of Human Skills
283
SelfMotions of 63 StewartGough Type Parallel Manipulators
359
Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment
367
Geometric Interpolation by Quartic Rational Spline Motions
377
Position Level Kinematics of the Atlas Motion Platform
385
An Optimum Path Planning for LARMClutched Arm
393
A Simple Kinematic Model of a Human Body for Virtual Environments
401
PART 7
409
On the Development of Low Mass Shaking Force Balanced Manipulators
410
SingularityInvariant Leg Rearrangements in StewartGough Platforms
421
Geometric Kinematics of Rigid Bodies with Point Contact
429
Singularity Locus of 64 FullyParallel Manipulators
437
The PreStereographic Model of the General ThreeSystem of Screws
447
Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots
455
Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints
464
Characterization of Parallel Manipulator AvailableWrench Set Facets
475
PART 8
483
ConstraintScrew System Based Synthesis of Limb Arrangement of the 3PUP Parallel Mechanism
485
On Structural Properties of Sets of Finite Displacement Screws
493
An Autonomous and Safe Homing Strategy for Parallel Kinematic FiveBar Manipulators
501
Singularities of Regional Manipulators Revisited
509
RobotBased HiL Test of Joint Endoprostheses
520
An Algorithm for RealTime Forward Kinematics of CableDriven Parallel Robots
529
Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory
539
Author Index
547
Subject Index
549
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About the author (2010)

Jadran Lenarcic has been Professor at the Faculty of Electrical Engineering, University of Ljubljana, Slovenia, since 1988. He is Director of the J. Stefan Institute of Automatics, Biocybernetics and Robotics since 2005. He is a member of the executive committee of the International Federation for the Theory of Machines and Mechanisms, member of the Board of the European Robotics network, and memebr of the Executive Board of the European Association of Research and Technology Organisations. He is regular member of the Slovenian Academy of Engineering Science.