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

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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.

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Product Details

  • ISBN-13: 9789048192618
  • Publisher: Springer Netherlands
  • Publication date: 6/16/2010
  • Edition description: 2010
  • Edition number: 1
  • Pages: 551
  • Product dimensions: 1.25 (w) x 9.21 (h) x 6.14 (d)

Meet the Author

Jadran Lenarcic has been Professor at the Faculty of Electrical Engineering, University of Ljubljana, Slovenia, since 1988. He is Director of the J. Stefan Institute of Automatics, Biocybernetics and Robotics since 2005.
He is a member of the executive committee of the International Federation for the Theory of Machines and Mechanisms, member of the Board of the European Robotics network, and memebr of the Executive Board of the European Association of Research and Technology Organisations. He is regular member of the Slovenian Academy of Engineering Science.

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Table of Contents


Part 1

Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges J. Hesselbach Hesselbach, J. 3

Dynamic Jacobian Inverses of Mobile Manipulator Kinematics L. Malek Malek, L. 11

A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms F. Thomas Thomas, F. 23

Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations M. Vona Vona, M. 33

Researching into Non-Singular Transitions in the Joint Space A. Hernandez Hernandez, A. 45

Marionet, A Family of Modular Wire-Driven Parallel Robots J.-P. Merlet Merlet, J.-P. 53

Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation during Gait Analysis M.B. Rubin Rubin, M. B. 63

Part 2

Mechanical Generators of 2-DoF Translation along a Ruled Surface J.M. Herve Herve, J. M. 73

Worm-Like Robotic Locomotion in Flexible Environment M. Shoham Shoham, M. 81

Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator J.A. Carretero Carretero, J. A. 91

Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery M. Suciu Suciu, M. 99

Main Theorem on Schonfliess-Singular Planar Stewart Gough Platforms G. Nawratil Nawratil, G. 107

A Novel Actuation Module for Wearable Robots N. Lucchesi Lucchesi, N. 117

Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction V. Parenti Castelli Castelli, V. Parenti 127

Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy M.M. Stanisic Stanisic, M. M. 137

Part 3

Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator M. de Mathelin de Mathelin, M. 147

Multiple-Point Kinematic Control of a Humanoid Robot A. Tarallo Tarallo, A. 157

Optimum Design of a Pan-Tilt Drive for Parallel Robots S. Nokleby Nokleby, S. 169

LQP-Based Controller Design for Humanoid Whole-Body Motion P. Bidaud Bidaud, P. 177

Persistent Screw Systems J.M. Rico Martinez Martinez, J. M. Rico 185

Localisation of the Instantaneous Axis of Rotation in Human Joints V. Pasqui Pasqui, V. 195

A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle P. Burkhard Burkhard, P. 203

Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters C. Gosselin Gosselin, C. 211

Part 4

The Development of a Reconfigurable Parallel Robot with Binary Actuators J. Hesselbach Hesselbach, J. 225

On the Design of 5R Serial Manipulators with Isotropic Positioning L. Baron Baron, L. 233

A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head A. Ude Ude, A. 241

Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions F.C. Park Park, F. C. 251

Part 5

Equilibrium Analysis of Tensegrity Structures with Elastic Ties C. Crane Crane, C. 263

Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle P. Wenger Wenger, P. 273

Human Motion Reconstruction and Synthesis of Human Skills O. Khatib Khatib, O. 283

Overconstrained Mechanisms with Radially Reciprocating Motion J.S. Dai Dai, J. S. 293

Control of Bipedal Turning While Running K.J. Waldron Waldron, K. J. 301

Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots J.-P. Merlet Merlet, J.-P. 309

The Inverse Kinematics of 3-D Towing V. Kumar Kumar, V. 321

A Complete Method for Workspace Boundary Determination M. Manubens Manubens, M. 329

Part 6

Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning J. Lenarcic Lenarcic, J. 341

Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion from MRI Measurements A. Kecskemethy Kecskemethy, A. 349

Self-Motions of 6-3 Stewart-Gough Type Parallel Manipulators A. Karger Karger, A. 359

Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment M. de Broissia de Broissia, M. 367

Geometric Interpolation by Quartic Rational Spline Motions E. Zagar Zagar, E. 377

Position Level Kinematics of the Atlas Motion Platform M.J.D. Hayes Hayes, M. J. D. 385

An Optimum Path Planning for LARM Clutched Arm M. Ceccarelli Ceccarelli, M. 393

A Simple Kinematic Model of a Human Body for Virtual Environments M. Munih Munih, M. 401

Part 7

On the Development of Low Mass Shaking Force Balanced Manipulators J.L. Herder Herder, J. L. 411

Singularity-Invariant Leg Rearrangements in Stewart-Gough Platforms C. Torras Torras, C. 421

Geometric Kinematics of Rigid Bodies with Point Contact J.S. Dai Dai, J. S. 429

Singularity Locus of 6-4 Fully-Parallel Manipulators R. Di Gregorio Di Gregorio, R. 437

The Pre-Stereographic Model of the General Three-System of Screws D. Zlatanov Zlatanov, D. 447

Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots J. Choe Choe, J. 455

Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints D. Chablat Chablat, D. 465

Characterization of Parallel Manipulator Available Wrench Set Facets S. Krut Krut, S. 475

Part 8

Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism D.G. Caldwell Caldwell, D. G. 485

On Structural Properties of Sets of Finite Displacement Screws I.A. Parkin Parkin, I. A. 493

An Autonomous and Safe Homing Strategy for Parallel Kinematic Five-Bar Manipulators A. Raatz Raatz, A. 501

Singularities of Regional Manipulators Revisited A. Muller Muller, A. 509

Robot-Based Hil Test of Joint Endoprostheses R. Bader Bader, R. 521

An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots A. Pott Pott, A. 529

Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory C. Woernle Woernle, C. 539

Author Index 547

Subject Index 549

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