Advances in Robot Kinematics: Mechanisms and Motion

Front Cover
Jadran Lenarčič, B. Roth
Springer Science & Business Media, Oct 10, 2006 - Technology & Engineering - 498 pages
0 Reviews
This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the theory and practice of robot kinematics and treat the motion of robots, in particular robot manipulators, without regard to how this motion is produced or c- trolled. Each book of Advances in Robot Kinematics reports the most recent research projects and presents many new discoveries. The issues addressed in this book are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, d- terity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quat- nion algebra, screw algebra, and linear algebra. These methods are - plied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers and students, in ?elds of engineering and mathematics related to robot theory, design, control and application. All the contributions had been rigorously reviewed by independent reviewers and ?fty three articles had been recommended for publi- tion. They were introduced in seven chapters. The authors discussed theirresultsatthetenthinternationalsymposiumonAdvancesinRobot Kinematics which was held in June 2006 in Ljubljana, Slovenia. The symposium was organized by Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science.
 

What people are saying - Write a review

We haven't found any reviews in the usual places.

Contents

Wirebased tracking using musical information
3
The control number as index for Stewart Gough platforms
15
Determining the 3x3 rotation matrices that satisfy three linear equations in the direction cosines
23
A polar decomposition based displacement metric for a finite region of SEn
33
On the regularity of the inverse Jacobian of parallel robots
41
Parallel robots that change their group of motion
49
Approximating planar morphing curves with rigidbody linkages
57
On the velocity analysis of nonparallel closed chain mechanisms
65
Singularity of a class of GoughStewart platforms with three concurrent joints
265
Singularity analysis of a 4DOF parallel manipuator using geometric algebra
275
A geometrical interpretation of 33 mechanism singularities
285
Workspace and Performance
295
Quantitative dexterous workspace comparisons
296
Levelset method for workspace analysis of serial manipulators
307
Determination of the wrenchclosure workspace of 6DOF parallel cabledriven mechanisms
315
Fullyisotropic hexapods
323

Properties of Mechanisms
73
Kinematics of micro planar parallel robot comprising large joint clearings
75
Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement
85
Large kinematic error propagation in revolute manipulators
95
A framework for the analysis synthesis and optimization of parallel kinematic machines
103
Searching for undiscovered planar straightline linkages
113
Type synthesis of threeDOF upequivalent parallel manipulators using using a virtualchain approach
123
The multiple virtual endeffectors approach for humanrobot interaction
133
Humanoids and Biomedicine
145
Balance and control of human inspired jumping robot
146
A convex optimization algorithm for stabilizing wholebody motions of humanoid robots
157
Parallel mechanisms for knee orthoses with selective recovery action
167
Modeling time invariance in human arm motion coordination
177
Assessment of finger joint angles and calibration of instrumental glove
185
All singularities of the 9DOF DLR Medical invasive applications
193
On the inverse kinematics of a fragment of protein backbone
201
Predicting reaching postures using a kinematically constrained shoulder model
209
Analysis of Mechanisms
219
Self motions of a special 3RPR planar parallel robot
221
Graphical singularity analysis of 3DOF planar parallel manipulators
229
Direct singularity closeness indexes for the hexa parallel robot
239
StewarrtGough platforms with simple singularity surface
247
A robust model for 3D tracking in objectoriented multibody systems based on singularityfree Frenet framing
255
A new calibration stategy for a class of parallel mechanisms
331
the dynamic optimization of PKM
339
On nonassembly in the optimal synthesis of serial manipulators performing prescribed tasks
349
Design of Mechanisms
357
Complexity analysis for the conceptual design of robotic architectures
359
robust threedimensional noncontacting angular motion sensor
369
Synthesis of spherical fourbar mechanisms using spherical kinematic mapping
377
Synthesis of 2DOF spherical fully parallel mechanisms
385
Constraint synthesis for planar nR robots
395
Calculating force distributions for redundantly actuated tendonbased Stewart platforms
403
A study of minimal sensor topologies for space robots
413
Kinematics and optimization of the translating 3CCR3RCC parallel mechanisms
423
Motion Synthesis and Mobility
433
Pseudoplanar motion generators
434
On PKM with articulated travellingplate and large tilting angles
445
Mobility and connectivity in multiloop linkages
455
Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators
465
Kinematics and grasping using conformal geometrics algebra
473
Application of kinematics tools in study of internal mobility of protein molecules
481
Motion pattern singularity in lower mobility parallel manipulators
489
Author Index
497
Copyright

Other editions - View all

Common terms and phrases

Bibliographic information