Advances in robot kinematics: with emphasis on symbolic computation
S. Stifter, J. Lenarčič
Springer-Verlag, 1991 - Computers - 484 pages
This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990. The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics.
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Boschian A Pruski C Laurent
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acceleration algorithm analysis angular applied approach atan2 axes axis Buchberger Algorithm calculated cartesian coefficients compliance constraint coordinate system curve defined degrees of freedom denoted derived determining equations direction displacement driving wrenches dynamic elements end effector error Figure finite twist forward kinematics function geometric given gripper IEEE imaginary actuators industrial robots intersect inverse kinematics inverse kinematics problem Jacobian matrix joint angles joint coordinates joint variables kinematic equations kinematic model linear mathematical mechanism method Microbot motion null space object obstacles obtained optimal orthogonal parallel parallel manipulators parameters planar platform polynomial position and orientation Proc pseudoinverse redundant manipulators robot kinematics robot manipulators Robotics and Automation rotation rotation matrix screw screw theory sensor simulation singular configurations solve space spatial Stewart Platform structure Symbolic Computation task techniques torque trajectory transformation triangulations truss values vector virtual end-point workspace wrist zero