On Advances in Robot Kinematics / Edition 1

On Advances in Robot Kinematics / Edition 1

by Jadran Lenar?i?
     
 

ISBN-10: 1402022484

ISBN-13: 9781402022487

Pub. Date: 06/28/2004

Publisher: Springer Netherlands

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, automations, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force

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Overview

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, automations, 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.

Product Details

ISBN-13:
9781402022487
Publisher:
Springer Netherlands
Publication date:
06/28/2004
Edition description:
2004
Pages:
486
Product dimensions:
6.10(w) x 9.25(h) x 0.04(d)

Table of Contents

A fast and accurate method for the singular value decomposition of 3x3 matrices3
SVD and PD based projection metrics on SE(n)13
Choice of independent coordinates in modular kinematics23
Distance constraints solved geometrically31
Kinematic mapping application to approximate type and dimension synthesis of planar mechanisms41
On the ruled surface generated by a linear combination screw49
Lie-group first-order operations in rigid-body kinematics57
First-order intrinsic properties of the rotation parameters SO(3), quaternion and rotation vector67
Time-invariant properties of planar motions79
Projective properties of parallel manipulators89
Screw spaces and connectivities in multiloop linkages97
Kinematics equations of a class of 4DOF parallel wrists105
Kinematic structure of a parallel robot for MEMS fabrication113
Isolating self-motion manifolds on a playstation123
Mobility of spatial multi-loop and mixed linkages133
Human-like motion from physiologically-based potential energies145
Role of biarticular muscles in human jump155
Human hand movement kinematics and kinesthesia163
Kinematic synthesis of avatar skeletons from visual data171
Kinematics and modelling of a system for robotic surgery181
Manipulability and accuracy measures for a medical robot in minimally invasive surgery191
Helix-Helix packing in proteins : the kinematics of interacting line segments199
Analysis of the influence of wires interference on the workspace of wire robots211
Workspace classification of 3R orthogonal manipulators219
Workspace classification of Stewart-Gough manipulators with planar base and platform229
The orthoglide : kinematics and workspace analysis237
A Cartesian representation for the boundary workspace of 3R manipulators247
Kinematic isotropy and dynamic performances in translational parallel manipulators255
Fully-isotropic T3R1-type parallel manipulators265
The singular planes of the articulated arm subassembly275
Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot283
A force based approach to error analysis of parallel kinematic mechanisms293
Analysis and optimization of a planar tendon-driven parallel manipulator303
Closed-form equilibrium analysis of a planar tensegrity structure313
Singularities and mobility of a class of 4-DOF mechanisms321
Kinematics and dynamics of a 6-RUS Hunt-type parallel manipulator by using natural coordinates329
The robust design of Schonflies-motion generators339
Polyhedral zig-zag linkages351
Variational motion design361
New parallel wrists : special limbs with motion dependency371
The design of a novel pitch-roll wrist with spherical cam-roller pairs381
Design of a hybrid manipulator for painting highway signage389
An optimal kinematic design for a highly dextrous MIS instrument399
Achievable Cartesian stiffness with passively compliant, uncoupled joints409
Movement primitives and principal component analysis421
Parallel mechanisms with pseudo-planar motion generators431
Multi-agent manipulator control and moving obstacle avoidance441
Kinematics of a parallel mechanism for the generation of spherical motions449
Control of a maneuvering mobile robot by transverse functions459
Acceleration-driven kinematics of mobile manipulators : an endogenous configuration space approach469
Dynamic dexterity and isotropy of mobile robots : an endogenous configuration space approach477

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