Advances in Robot Kinematics / Edition 1

Hardcover (Print)
Buy New
Buy New from
Used and New from Other Sellers
Used and New from Other Sellers
from $165.53
Usually ships in 1-2 business days
(Save 27%)
Other sellers (Hardcover)
  • All (5) from $165.53   
  • New (4) from $165.53   
  • Used (1) from $275.11   


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 in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. 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.
Read More Show Less

Editorial Reviews

Papers from a June 2000 symposium held in Slovenia present recent advances in the theory, design, control, and application of robotic systems intended for manipulation, manufacturing, automation, surgery, locomotion, and biomechanics. Issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, and over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of- freedom systems. Lenarcic is affiliated with J. Stefan Institute, Slovenia. Stanisic teaches aerospace and mechanical engineering at the University of Notre Dame. Annotation c. Book News, Inc., Portland, OR (
Read More Show Less

Product Details

  • ISBN-13: 9780792364269
  • Publisher: Springer Netherlands
  • Publication date: 6/15/2000
  • Edition description: 2000
  • Edition number: 1
  • Pages: 442
  • Product dimensions: 1.06 (w) x 9.21 (h) x 6.14 (d)

Table of Contents

A kinematic calibration of in-parallel actuated mechanisms using Fourier series (evaluation index for determination of the set of measurement paths) 3
Dynamic performance indices for 3-DOF parallel manipulators 11
Evaluation of a Cartesian parallel manipulator 21
Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system 29
Linearized kinematics for state estimation in robotics 39
Performance evaluation of the grasp of two cooperating robots using a type map 49
On the invariance of manipulability indices 57
Influence of a manipulability index on trajectory planning for robots in a workspace with obstacles 67
Humanoid humeral pointing kinematics 79
Efficient algorithms for robots with human-like structures and interactive haptic simulation 89
Particular aspects in designing anthropomorphic mechanisms 99
Uncertainty model and singularities of 3-2-1 wire-based tracking systems 107
Tension distribution in tendon-based Stewart platforms 117
Trajectory tracking control for a cable suspension manipulator 125
Is design of new drugs a challenge for kinematics? 135
Redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set 147
Singularities and self-motions of a special type of platforms 155
Investigation of singularities and self-motions of the 3-UPU robot 165
On closure modes and singular configurations of kinematic chains 175
Constraint singularities as c-space singularities 183
Hierarchical kinematic analysis of a redundant robot 193
Motion planning of redundant manipulators for specified trajectory tasks 203
Realtime coordinated redundant motion of a nonholonomic mobile manipulator 213
Using body flexibility to simplify the solution of kinematic equations in the dynamic analysis of robot mechanisms and multibody systems 225
Subdivision algorithms for motion design based on homologous points 235
Group theory can explain the mobility of paradoxical linkages 245
Solving multi-loop linkages by iterating 2D clippings 255
Revisiting Plucker coordinates in vision-based control 265
On displacing a screw about a screw 275
Algebraic solution of inverse kinamatics revisited 281
A variant of a 6-RKS hunt-type parallel manipulator to easily use insensitivity position configurations 291
On the kinematics of parallel mechanisms with bi-stable polymer actuators 303
The kinetostatic design of a Schonflies-motion generator 311
Design of 2-DOF parallel mechanisms for machining applications 319
Kinematically equivalent spatial mechanisms with revolute pair at input and prismatic pair at output 329
The optimal synthesis of parallel manipulators for desired workspaces 337
Connecting assembly modes for workspace enlargement 347
The isotropic conditions of parallel manipulators of Delta topology 357
An accurate algorithm for the real-time solution of the direct kinematics of 6-3 Stewart platform manipulators 369
3-Legged spatial 4-bar platform kinematics 379
Dynamic modeling of the Orthoglide 387
Workspace analysis of the Orthoglide using interval analysis 397
A divide-and-conquer method for inverse kinematics of hyper-redundant manipulators 407
Interval propagation for solving parallel spherical mechanisms 415
Kinematic analysis of spatial 3-dof parallelepiped mechanisms 423
Kinematics of a planar robot with rolling contact joints 433
Dual quaternion synthesis of contrained robots 443
Type synthesis of linear translational parallel manipulators 453
Stiffness synthesis of a variable geometry planar robot 463
Synthesis of architecturally mobile double-planar platforms 473
Approximate motion synthesis using an SVD based distance metric 483
Navigation and gait planning for planar walker 491
Near Optimal Coordination of legged vehicles over large obstacles 501
Author Index 517
Read More Show Less

Customer Reviews

Be the first to write a review
( 0 )
Rating Distribution

5 Star


4 Star


3 Star


2 Star


1 Star


Your Rating:

Your Name: Create a Pen Name or

Barnes & Review Rules

Our reader reviews allow you to share your comments on titles you liked, or didn't, with others. By submitting an online review, you are representing to Barnes & that all information contained in your review is original and accurate in all respects, and that the submission of such content by you and the posting of such content by Barnes & does not and will not violate the rights of any third party. Please follow the rules below to help ensure that your review can be posted.

Reviews by Our Customers Under the Age of 13

We highly value and respect everyone's opinion concerning the titles we offer. However, we cannot allow persons under the age of 13 to have accounts at or to post customer reviews. Please see our Terms of Use for more details.

What to exclude from your review:

Please do not write about reviews, commentary, or information posted on the product page. If you see any errors in the information on the product page, please send us an email.

Reviews should not contain any of the following:

  • - HTML tags, profanity, obscenities, vulgarities, or comments that defame anyone
  • - Time-sensitive information such as tour dates, signings, lectures, etc.
  • - Single-word reviews. Other people will read your review to discover why you liked or didn't like the title. Be descriptive.
  • - Comments focusing on the author or that may ruin the ending for others
  • - Phone numbers, addresses, URLs
  • - Pricing and availability information or alternative ordering information
  • - Advertisements or commercial solicitation


  • - By submitting a review, you grant to Barnes & and its sublicensees the royalty-free, perpetual, irrevocable right and license to use the review in accordance with the Barnes & Terms of Use.
  • - Barnes & reserves the right not to post any review -- particularly those that do not follow the terms and conditions of these Rules. Barnes & also reserves the right to remove any review at any time without notice.
  • - See Terms of Use for other conditions and disclaimers.
Search for Products You'd Like to Recommend

Recommend other products that relate to your review. Just search for them below and share!

Create a Pen Name

Your Pen Name is your unique identity on It will appear on the reviews you write and other website activities. Your Pen Name cannot be edited, changed or deleted once submitted.

Your Pen Name can be any combination of alphanumeric characters (plus - and _), and must be at least two characters long.

Continue Anonymously

    If you find inappropriate content, please report it to Barnes & Noble
    Why is this product inappropriate?
    Comments (optional)