On Advances in Robot Kinematics
Jadran Lenarčič, C. Galletti
Springer Science & Business Media, Jun 9, 2004 - Technology & Engineering - 486 pages
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.
What people are saying - Write a review
Other editions - View all
2004 Kluwer Academic actuators Advances in Robot algebra algorithm analysis angle ASME axes axis biarticular link computed condition number constraints corresponding curve defined degrees of freedom denote derivative determined direct kinematics displacements distance dual quaternion dynamic elements end-effector endogenous configuration equations error Euclidean Figure frame function Galletti geometric Gosselin IEEE instrument intersection inverse kinematics isotropic Jacobian matrix joint Keywords kinematic chain kinematic pairs Kluwer Academic Publishers Lenarcic Lie group Lie subgroup limbs linear loop mapping method minimal mobile manipulator motion moving platform muscle null space nullspace obtained optimization orientation Orthoglide orthogonal pairs paper parallel manipulator parallel mechanisms parameters performance planar position problem Proc quaternion rigid-body Robot Kinematics rotation screw Screw Theory serial manipulators simulation singular value solution solved space spatial spherical Stewart Platform structure subgroup synthesis tensegrity trajectory transformation translation variables vector velocity workspace zero