Advances in Robot Kinematics: Analysis and Control / Edition 1

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The book presents the state of the art and recent advances in the area of kinematics of robots and mechanisms. It consists of about fifty outstanding contributions dedicated to various aspects of kinematic modelling and control, emphasising in particular the kinematic performances of robots and mechanisms, workspace and trajectory analysis, numerical and symbolic computational methods and algorithms, analysis, simulation and optimisation.

The book is of interest to researchers, graduate students, and engineers specialising in the kinematics of robots and mechanisms. It should also be of interest to those engaged in work relating to kinematic chains, mechatronics, mechanism design, biomechanics and intelligent systems.

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Editorial Reviews

Proceedings of the 6th international symposium on Advances in Robot Kinematics, June 1998, Strobl/Salzburg, Austria. Fifty- eight contributions address the kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. Topics include parallel robots, application of screw theory, isotopy versus singularity, and biorobotics. Individual papers are on such subjects as workspace and assembly modes in fully-parallel manipulators, the mass center of articulated chains, and redundancy-resolution algorithms for isotropic robots. Of interest to those involved with robots, as well as those inovlved with kinematic chains, mechatronics, mechanism design, biomechanics, and intelligent systems. Annotation c. by Book News, Inc., Portland, Or.
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Product Details

  • ISBN-13: 9780792351696
  • Publisher: Springer Netherlands
  • Publication date: 6/30/1998
  • Edition description: 1998
  • Edition number: 1
  • Pages: 582
  • Product dimensions: 9.21 (w) x 6.14 (h) x 1.31 (d)

Table of Contents

The Stewart-Gough platform of general geometry can have 40 real postures 7
Parallel arrays of binary actuators 17
A study on the kinematics of a class of parallel manipulators 29
Determination of the presence of singularities in 6D workspace of a Gough parallel manipulator 39
A translational 3-dof parallel manipulator 49
Inverse kinematics of a planar manipulator with holonomic higher pairs 59
N-position synthesis of parallel planar RPR platforms 69
Dual expansion of an optimal in-parallel spherical platform device into a spatial one 79
Kinematics and force analysis of a 6 d.o.f. parallel mechanism with elastic joints 87
Inverse kinematics for an underconstrained cable suspension manipulator 97
Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms 105
Workspace and assembly modes in fully-parallel manipulators: a descriptive study 117
The on-line direct kinematics of parallel manipulators under joint-sensor redundancy 127
Forward kinematics of a 6-6 fully-parallel manipulator with congruent base and platform 137
Forward displacement analysis of a three-legged four-degree-of-freedom parallel manipulator 147
Double circular-triangular six-degrees-of-freedom parallel robot 155
A new parallel mechanism to use for cutting convex glass panels 165
Geometric modelling of general parallel mechanisms for calibration purposes 175
On the mass center of articulated chains 187
A spatial algebra approach to kinematic control of dual-arm systems 197
Automatic generation of error models of the kinematics of robots 207
Samos: A Pythagorean solution for omni-directional underwater vehicles 217
Predicting the slop of in-series / parallel manipulators caused by joint clearances 227
Kinematics of a split-equator symmetrically actuated double pointing system used in a robotic wrist 237
An analytical design of telescopic manipulator arms for prescribed workspace 247
Modular kinematics of planar mechanisms with prismatic pairs and flexible links 255
Geometry in mechanics 267
The kinematics of Roschel polyhedra 277
A remarkable overconstrained spherical motion 287
Analytical kinematics of overconstrained 20-link 24R mechanism: Branches with one, two and three degrees of freedom 297
An investigation of a special motion of an octahedron manipulator using screw theory 307
Linear systems of tan-screws for finite displacement of a rigid body with symmetries 317
The Jacobian analysis of a parallel manipulator using reciprocal screws 327
On compounding three successive finite displacement screws 337
Unified kinetostatics for serial, parallel and mobile robots 343
Applications of Fourier methods on the motion group in robot kinematics 355
A geometric approach to second and higher order kinematic analysis 365
Inverse kinematics of arbitrary robotic manipulators using genetic algorithms 375
An algorithm for solving the inverse kinematics of a 6R serial manipulator using dual quaternions and Grassmannians 383
An algorithm for the solution of inverse kinematics problems based on an interval method 393
Approximation in line space - applications in robot kinematics and surface reconstruction 403
Rotation minimizing spherical motions 413
Redundancy-resolution algorithms for isotropic robots 425
Robot isotropy: A reassessment 435
Architecture singular parallel manipulators 445
Geometry & architecturally shaky platforms 455
Characterisation of architecturally shaky platforms 465
Singularity consistent inverse kinematics by enhancing the Jacobian transpose 475
A singularity classification for closed chains 483
Coordination of redundant articulatory parameters near a singularity in the vocal mechanism 493
Jacobian of a flexible manipulator undergoing large elastic displacements 501
Compensation of geometric and elastic deflection errors in large manipulators based on experimental measurements: application to a high accuracy medical manipulator 513
Dynamic models for haptic rendering systems 523
Determination of singularities and self-motion of a 7-dof anthropomorphic manipulator 533
Kinematic stability in quadrupedal locomotion 543
Kinematics of the human forearms pro- and supination 551
The human lower limb system during swing phase of gait - A flexible mechanism with optimized actuators 561
The self motion of an anthropomorphic manipulator 571
Author Index 579
Subject Index 581
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