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130626  eng 
020 


a 9781402086007

100 
1 

a Lenarčič, Jadran
e [editor]

245 
0 
0 
a Advances in Robot Kinematics: Analysis and Design
h Elektronische Ressource
c edited by Jadran Lenarčič, Philippe Wenger

250 


a 1st ed. 2008

260 


a Dordrecht
b Springer Netherlands
c 2008, 2008

300 


a XII, 472 p
b online resource

505 
0 

a A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators  Trajectory Planning of Parallel Manipulators for Global Performance Optimization  Human Motion Reconstruction by Direct Control of Marker Trajectories  Performance and Properties of Mechanisms  New SelfMotions of Parallel Manipulators  Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions  A CompoundStructure Frame for Improving the Performance of a Dielectric Elastomer Actuator  Transitions between Multiple Solutions of the Direct Kinematic Problem  Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation  Results on Planar Parallel Manipulators with Cylindrical Singularity Surface  Stiffness Matrix of Compliant Parallel Mechanisms  Measure and Calibration  A Pair of Measures of Rotational Error for Axisymmetric Robot EndEffectors 

505 
0 

a 4DOF Parallel Architecture for Laparoscopic Surgery  FlappingWing Mechanism for a BirdSized UAVs: Design, Modeling and Control  Methods in Kinematics  Extended Jacobian Inverse Kinematics and Approximation of Distributions  A Screw Syzygy with Applications to Robot Singularity Computation  Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators  Robots Based on Assur Group A (3.5)  Kinematics of FreeFloating Systems through Optimal Control Theory  Genericity Conditions for Serial Manipulators  Alternative Forms for Displacement Screws and Their Pitches  Motion Planning and Mobility  TimeInvariant Strategies in Coordination of Human Reaching  Mobility and Higher Order Local Analysis of the Configuration Space of SingleLoop Mechanisms  Optimization of a Test Trajectory for SCARA Systems  Singularity Free PathPlanning for Parallel Robots 

505 
0 

a AngularVelocity Estimation from the Centripetal Component of the RigidBody Acceleration Field  A Novel Point of View to Define the Distance between Two RigidBody Poses  Parallel Robot Calibration by Working Mode Change  Augmented Model of the 3PRS Manipulator for Kinematic Calibration  The Calibration of a Parallel Manipulator with Binary Actuation  Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius  Kinematic Analysis and Workspace  A Geometrical Characterization of Workspace Singularities in 3R Manipulators  Kinematic Analysis of a Planar Tensegrity Mechanism with PreStressed Springs  Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points  On the Delassus Parallelogram  Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications  Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery

505 
0 

a Singularity Analysis of Parallel Manipulators  A New Assessment of Singularities of Parallel Kinematic Chains  Singularity Analysis through Static Analysis  Constraint Singularities and the Structural Parameters of Parallel Robots  Forward Kinematics and Singularity Analysis of a 3RPR Planar Parallel Manipulator  Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility  SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra  Singularity Analysis of LimitedDOF Parallel Manipulators Using Grassmann–Cayley Algebra  Design of Robots and Mechanisms  On the Design of Fully Constrained Parallel CableDriven Robots  Synthesis of Part Orienting Devices for Spatial Assembly Tasks  Minimum Energy Manipulator Design  Synthesis and Analysis of a Constrained Spherical Parallel Manipulator  A Nonholonomic 3DOF Parallel Robot 

653 


a Mechanics, Applied

653 


a Control, Robotics, Automation

653 


a Industrial engineering

653 


a Engineering design

653 


a Engineering Mechanics

653 


a Industrial and Production Engineering

653 


a Control engineering

653 


a Robotics

653 


a Engineering Design

653 


a Automation

653 


a Production engineering

700 
1 

a Wenger, Philippe
e [editor]

041 
0 
7 
a eng
2 ISO 6392

989 


b Springer
a Springer eBooks 2005

028 
5 
0 
a 10.1007/9781402086007

856 
4 
0 
u https://doi.org/10.1007/9781402086007?nosfx=y
x Verlag
3 Volltext

082 
0 

a 629.8

520 


a This book presents the most recent research advances in the theory, design, control and application of robot systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as overconstrained systems. Methods used include line geometry, quaternion algebra, screw algebra and linear algebra. These methods are applied to both parallel and serial multidegreeoffreedom systems. The book includes 48 independently reviewed papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The papers have been subdivided into the following sections: Singularity analysis of parallel manipulators, Design of robots and mechanisms, Motion planning and mobility, Performance and properties of mechanisms, Measure and calibration, Kinematic analysis and workspace. Indexed in Conference Proceedings Citation Index Science (CPCIS)
