Advances in Robot Kinematics: Analysis and Design

Front Cover
Jadran Lenarčič, Philippe Wenger
Springer Science & Business Media, May 29, 2008 - Technology & Engineering - 472 pages
0 Reviews

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.

 

What people are saying - Write a review

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

Contents

Preface
1
SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS
2
A New Assessment of Singularities of Parallel Kinematic Chains
3
Singularity Analysis through Static Analysis
13
Constraint Singularities and the Structural Parameters of Parallel Robots
21
Forward Kinematics and Singularity Analysis of a 3RPR Planar Parallel Manipulator
29
Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility
39
SinguLab A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on GrassmannCayley Algebra
49
A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators
243
Trajectory Planning of Parallel Manipulators for Global Performance Optimization
253
Human Motion Reconstruction by Direct Control of Marker Trajectories
263
PERFORMANCE AND PROPERTIES OF MECHANISMS
273
New SelfMotions of Parallel Manipulators
274
Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions
283
A CompoundStructure Frame for Improving the Performance of a Dielectric Elastomer Actuator
291
Transitions between Multiple Solutions of the Direct Kinematic Problem
301

Singularity Analysis of LimitedDOF Parallel Manipulators Using GrassmannCayley Algebra
59
DESIGN OF ROBOTS AND MECHANISMS
69
On the Design of Fully Constrained Parallel CableDriven Robots
71
Synthesis of Part Orienting Devices for Spatial Assembly Tasks
79
Minimum Energy Manipulator Design
88
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator
101
A Nonholonomic 3DOF Parallel Robot
111
4DOF Parallel Architecture for Laparoscopic Surgery
119
Design Modeling and Control
127
METHODS IN KINEMATICS
135
Extended Jacobian Inverse Kinematics and Approximation of Distributions
136
A Screw Syzygy with Applications to Robot Singularity Computation
147
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators
155
Robots Based on Assur Group A 35
165
Kinematics of FreeFloating Systems through Optimal Control Theory
177
Genericity Conditions for Serial Manipulators
185
Alternative Forms for Displacement Screws and Their Pitches
193
MOTION PLANNING AND MOBILITY
203
TimeInvariant Strategies in Coordination of Human Reaching
204
Mobility and Higher Order Local Analysis of the Configuration Space of SingleLoop Mechanisms
215
Optimization of a Test Trajectory for SCARA Systems
225
Singularity Free Path Planning for Parallel Robots
235
Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
311
Results on Planar Parallel Manipulators with Cylindrical Singularity Surface
321
Stiffness Matrix of Compliant Parallel Mechanisms
331
MEASURE AND CALIBRATION
342
A Pair of Measures of Rotational Error for Axisymmetric Robot EndEffectors
345
AngularVelocity Estimation from the Centripetal Component of the RigidBody Acceleration Field
353
A Novel Point of View to Define the Distance between Two RigidBody Poses
361
Parallel Robot Calibration by Working Mode Change
370
Augmented Model of the 3PRS Manipulator for Kinematic Calibration
381
The Calibration of a Parallel Manipulator with Binary Actuation
391
Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius
399
KINEMATIC ANALYSIS AND WORKSPACE
408
A Geometrical Characterization of Workspace Singularities in 3R Manipulators
409
Kinematic Analysis of a Planar Tensegrity Mechanism with PreStressed Springs
419
Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points
429
On the Delassus Parallelogram
439
Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications
450
Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery
459
Author Index
469
Subject Index
471
Copyright

Other editions - View all

Common terms and phrases