Advances in Robot Kinematics: Motion in Man and Machine / Edition 1

Advances in Robot Kinematics: Motion in Man and Machine / Edition 1

by Jadran Lenarcic
     
 

ISBN-10: 9048192617

ISBN-13: 9789048192618

Pub. Date: 06/16/2010

Publisher: Springer Netherlands

The book provides about 50 contributions in the area of robot kinematics, the basic research sub-field of robotics. The main impetus is on the recent advances in the field. This latest volume of Advances in Robot Kinematics reports the newest scientific and applicative results. All contributions have been peer reviewed. The contributors are the most recognised

Overview

The book provides about 50 contributions in the area of robot kinematics, the basic research sub-field of robotics. The main impetus is on the recent advances in the field. This latest volume of Advances in Robot Kinematics reports the newest scientific and applicative results. All contributions have been peer reviewed. The contributors are the most recognised scientists in this area.
Topics treated include: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.

Product Details

ISBN-13:
9789048192618
Publisher:
Springer Netherlands
Publication date:
06/16/2010
Edition description:
2010
Pages:
551
Product dimensions:
6.10(w) x 9.25(h) x 0.24(d)

Table of Contents

Preface; Chapter 1; Introduction and Announcements; R. J. Ellwood, D. Schuetz, A. Raatz and J. Hesselbach: Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges; K. Tchoń, J. Jakubiak and Ł. Małek: Dynamic Jacobian Inverses of Mobile Manipulator Kinematics; N. Rojas and F. Thomas: A Robust Forward Kinematics Analysis of 3RPR planar Platforms; M. Vona: Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations; M. Urízar, V. Petuya, O. Altuzarra and A. Hernández: Researching into Nonsingular Transitions in the Joint Space; J.-P. Merlet: MARIONET, a Family of Modular Wire-Driven Parallel Robots; A. Wolf, I. Sharf and M. B. Rubin: Using Cosserat Points Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis; Chapter 2: C.-C. Lee and J. M. Hervé: Mechanical Generators of 2-DOF Translation Along a Ruled Surface; D. Zarrouk, I. Sharf and M. Shoham: Worm-like Robotic Locomotion in Flexible Environment; M. Ruggiu and J. Carretero: Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator; D. Pisla, N. Plitea, B. G. Gherman, C. Vaida and M. Suciu: Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery; G. Nawratil: Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms; M. Bergamasco, F. Salsedo, S. Marcheschi, N. Lucchesi: A Novel Actuation Module for Wearable Robots; R. Vertechy, G. Berselli, M. Bergamasco and V. Parenti-Castelli: Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction; S.Ambike, J. P. Schmiedeler and Stanišić: Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy; Chapter 3: S. Abdelaziz, P. Renaud, B. Bayle and M. de Mathelin: Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator; De Santis, G. Di Gironimo, L. Pelliccia, B. Siciliano, A. Tarallo: Multiple-Point Kinematic Control of a Humanoid Robot; D. Alizadeh, J. Angeles and S. Nokleby: Optimum Design of a Pan-tilt Drive for Parallel Robots; J. Salini, S. Barthélemy and P. Bidaud : LQP-Based Controller Design for Humanoid Whole-Body Motion; M. Carricato and J. M. Rico Martínez: Persistent Screw Systems; B. Bru and V. Pasqui: Localisation of the Instantaneous Axis of Rotation in Human Joints; Z. Shahbazi, T. A. P. F. Pimentel, H. Ilies, K. Kazerounian and P. Burkhard: A Kinematic Observation and Conjecture for Stable Construct of a Peptide Nanoparticle; M. T. Masouleh, M. Husty and C. Gosselin: Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters; Chapter 4: D. Schütz, A. Raatz and J. Hesselbach: The Development of a Reconfigurable Parallel Robot with Binary Actuators; L. Baron: On the Design of 5R Serial Manipulators with Isotropic Positioning; D. Omrčen and A. Ude: A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head; T. T. Um, B. Kim and F. C. Park: Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions; Chapter 5: O. Anubi and C. Crane: Equilibrium Analysis of Tensegrity Structures with Elastic Ties; S. Amine, D. Kanaan, S. Caro and P. Wenger: Singularity Analysis of Lower-Mobility Parallel Robots with and Articulated Nacelle; E. Demircan, T. Besier, S. Menon and O. Khatib: Human Motion Reconstruction and Synthesis of Human Skills; G. Wei and J. S. Dai: The Overconstrained Mechanisms with Radially Reciprocating Motion; A. D. Perkins and K. J. Waldron: Control of Bipedal Turning While Running; M. Carricato and J.-P. Merlet: Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots; Q. Jiang and V. Kumar: The Inverse Kinematics of 3-D Towing; O. Bohigas, L. Ros and M. Manubens: A Complete Method for Workspace Boundary Determination; Chapter 6: J. Babič, E. Oztop and J. Lenarčič : Inverse Kinematics of Humanoid-Robot Reaching Through Human Visuo-Motor Learning; J. Xu, P. Kasten, A. Weinberg, A. Kecskemethy: Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion Prediction by MRI Measurements; A. Karger: Self-Motions of 6-3 Stewart-Gough Type Parallel Manipulators; S. Rubrecht, V. Padois, P. Bidaud and M. de Broissia: Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment; B. Jüttler, M. Krajnc and E. Žagar: Geometric Interpolation by Quartic Rational Spline Motions; R. Beranek and M. J. D. Hayes: Position Level Kinematics of the Atlas Motion Platform; H. Gu and M. Ceccarelli: An Optimum Path Planning for LARM Clutched Arm; T. Koritnik, T. Bajd and M. Munih: A Simple Kinematic Model of a Human Body for Virtual Environments; Chapter 7: V. van der Wijk and J. L. Herder: On the Development of Low Mass Shaking Force Balanced Manipulators; J. Borràs, F. Thomas and C. Torras: Singularity-Invariant Leg Rearrangements in Stewart-Gough Platforms; L. Cui and J. S. Dai: Geometric Kinematics of Rigid Bodies with Point Contact; R. Di Gregorio: Singularity Locus of 6-4 Fully-Parallel Manipulators; D. Zlatanov: The Pre-Stereographic Model of the General Three-System of Screws; J. M. McCarthy and J. Choe: Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots; A. Pashkevich, A. Klimchik and D. Chablat: Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints; M. Gouttefarde and S. Krut: Characterization of Parallel Manipulator Available Wrench Set Facets; Chapter 8: D. M. Gan, J. S. Dai and D. G. Caldwell: Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism; I. A. Parkin: On Structural Properties of Sets of Finite Displacement Screws; F. Dietrich, K. Kaiser and A. Raatz: An Autonomous and Safe Homing Strategy for the Parallel Kinematic Five-Bar Manipulator; P. Donelan and A. Müller : Singularities of Regional Manipulators Revisited; C. Woernle, M. Kähler, R. Rachholz, S. Herrmann, J. Zierath, R. Souffrant, R. Bader: Robot-Based HiL Test of Joint Endoprostheses; A. Pott: An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots; R. Bartkowiak and C. Woernle: Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory; Conclusions and Discussions; Author Index; Subject Index

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