On Advances in Robot Kinematics

Front Cover
Jadran Lenarčič, C. Galletti
Springer Science & Business Media, Jun 9, 2004 - Technology & Engineering - 486 pages
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In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports 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, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. These methods are applied to both parallel and serial multi-degree of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.
 

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dois artigos importantes do Kecskemétry (pg 57 e 67), sobre grupos de Lie

Contents

I
3
II
13
III
23
IV
31
V
41
VI
49
VII
57
VIII
67
XXVII
247
XXVIII
255
XXIX
265
XXX
275
XXXI
283
XXXII
293
XXXIII
303
XXXIV
313

IX
79
X
89
XI
97
XII
105
XIII
113
XIV
123
XV
133
XVI
145
XVII
155
XVIII
163
XIX
171
XX
181
XXI
191
XXII
199
XXIII
211
XXIV
219
XXV
229
XXVI
237
XXXV
321
XXXVI
329
XXXVII
339
XXXVIII
351
XXXIX
361
XL
371
XLI
381
XLII
389
XLIII
399
XLIV
409
XLV
421
XLVI
431
XLVII
441
XLVIII
449
XLIX
459
L
469
LI
485
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