Advances in Robot Kinematics
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. The issues addressed are fundamentally kinematic...
| Other Authors: | , |
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| Format: | eBook |
| Language: | English |
| Published: |
Dordrecht
Springer Netherlands
2000, 2000
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| Edition: | 1st ed. 2000 |
| Subjects: | |
| Online Access: | |
| Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 5. Parallel Mechanisms and Workspace Analysis
- Symmetries in workspace densities of discretely actuated manipulators
- Workspace characterization of planar three-legged platforms with holonomic higher pairs
- Estimating the controllable workspace of tendon-based Stewart platforms
- The chord method for the determination of non-convex workspaces of planar parallel platforms
- Elasto-kinematic design tools for parallel mechanisms
- Kinematic analysis of a new parallel machine tool: the orthoglide
- Optimal trajectory planning of a 5-axis machine-tool based on a 6-axis parallel manipulator
- 6. Analysis and Application of Parallel Mechanisms
- A 4-dof parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex
- Parallel mechanisms applied to the human knee passive motion simulation
- A geometric model for cylinder-cylinder impact with application to vertebrae motion simulation
- Kinematic synthesis of planar platforms with RPR, PRR, and RRR chains
- 3. Force Analysis
- Impact analysis as a design tool for the legs of mobile robots
- Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control
- The Melbourne hand
- Active force closure for multiple objects
- SCALPP: A 6-dof robot with a non-spherical wrist for surgical applications
- A framework for multi-contact multi-body dynamic simulation and haptic display
- On the dynamics of a class of parallel robots
- 4. Kinematic Redundancy
- A simplified criterion for the repeatability of redundant manipulators
- An intuitive interface for nullspace teaching of redundant robots
- Methods for resolving velocity degeneracies of joint-redundant manipulators
- Novel kinematics for continuum robots
- The optimum quality index for a spatial redundant4–8 in-parallel manipulator
- Fuzzy inverse kinematics for underwater vehicle-manipulator systems
- 1. Methods in Kinematics
- Study’s kinematic mapping — A tool for motion design
- Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra
- Unit quaternion and CRV: Complementary non-singular representations of rigid-body orientation
- Numerically stable methods for converting rotation matrices to Euler parameters
- Geometry of homokinematic spatial Cardan shafts by dual methods
- A concise Bézier clipping technique for solving inverse kinematics problems
- Geometric calibration of robots using multiple plane constraints
- 2. Kinematic Synthesis
- On isotropic sets of points in the plane. Application to the design of robot architectures
- Fourier methods for synthesis of coupled serial chain mechanisms
- Dimensional synthesis of spatial RR robots
- Approximate motion synthesis via parametric constraint manifold fitting
- Designing linkages with symmetric motions: The spherical case
- Architecture singular parallel manipulators and their self-motions
- Architectural shakiness or architectural mobility of platforms
- Möbius mechanisms
- 7. Parallel Mechanisms and Screw Algebra
- Direct kinematics of the double-triangular manipulator: An exercise in geometric thinking
- A three-dof tripod for generating spherical rotation
- Kinematical analysis and simulation of a new parallel mechanism for robotics’ application
- Early studies in screw theory
- On deriving infinitesimal twists and velocity screws from finite displacement screws
- Synthesis by screw algebra of translating in-parallel actuated mechanisms
- Author Index