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Computational Kinematics

The aim of this book is to provide an account of the state of the art in Com­ putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer­ ical type, but also of a symbolic nature. Research in kinematics over th...

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Bibliographic Details
Other Authors: Angeles, J. (Editor), Hommel, Günter (Editor), Kovács, Peter (Editor)
Format: eBook
Language:English
Published: Dordrecht Springer Netherlands 1993, 1993
Edition:1st ed. 1993
Series:Solid Mechanics and Its Applications
Subjects:
Computer Science
Classical Mechanics
Electrical And Electronic Engineering
Electrical Engineering
Mechanical Engineering
Mechanics
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • 1 Kinematics Algorithms
  • 1.1 Computations in Kinematics
  • 1.2 Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem
  • 1.3 On the Tangent-Half-Angle Substitution
  • 1.4 Resultant Methods for the Inverse Kinematics Problem
  • 2 Redundant Manipulators
  • 2.1 Redundancy Resolution for an Eight-Axis Manipulator
  • 2.2 A Mixed Numeric and Symbolic Approach to Redundant Manipulators
  • 2.3 Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators
  • 2.4 On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators
  • 2.5 The Self-Motion Manifolds of the N-Bar Mechanism
  • 3 Kinematic and Dynamic Control
  • 3.1 Feedforward Torque Computations with the Aid of Maple V
  • 3.2 Nonlinear Control of Constrained Redundant Manipulators
  • 3.3 Analysis of Mechanisms by the Dual Inertia Operator
  • 4 Parallel Manipulators
  • 4.1 Direct Kinematics in Analytical Form of a General Geometry 5–4 Fully-Parallel Manipulator
  • 4.2 The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators
  • 4.3 The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators
  • 4.4 On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators
  • 4.5 Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators
  • 5 Motion Planning
  • 5.1 Singularity Control for Simple Manipulators using ‘PathEnergy’
  • 5.2 An Investigation of Path Tracking Singularities for Planar 2R Manipulators
  • 5.3 Robot Motions with Trajectory Interpolation and Overcorrection
  • 5.4 Computational Geometry and Motion Approximation
  • 6 Kinematics of Mechanisms
  • 6.1 Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator
  • 6.2 AnalyticalDetermination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages
  • 6.3 On Closed Form Solutions of Multiple-Loop Mechanisms
  • 6.4 A Modular Method for Computational Kinematics
  • 6.5 Synthesis for Rigid Body Guidance Using Polynomials
  • 6.6 Designing Mechanisms for Workspace Fit

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