On Advances in Robot Kinematics / Edition 1

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More About This Textbook

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.

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Product Details

  • ISBN-13: 9781402022487
  • Publisher: Springer Netherlands
  • Publication date: 6/28/2004
  • Edition description: 2004
  • Edition number: 1
  • Pages: 486
  • Product dimensions: 6.32 (w) x 9.70 (h) x 1.00 (d)

Table of Contents

A fast and accurate method for the singular value decomposition of 3x3 matrices 3
SVD and PD based projection metrics on SE(n) 13
Choice of independent coordinates in modular kinematics 23
Distance constraints solved geometrically 31
Kinematic mapping application to approximate type and dimension synthesis of planar mechanisms 41
On the ruled surface generated by a linear combination screw 49
Lie-group first-order operations in rigid-body kinematics 57
First-order intrinsic properties of the rotation parameters SO(3), quaternion and rotation vector 67
Time-invariant properties of planar motions 79
Projective properties of parallel manipulators 89
Screw spaces and connectivities in multiloop linkages 97
Kinematics equations of a class of 4DOF parallel wrists 105
Kinematic structure of a parallel robot for MEMS fabrication 113
Isolating self-motion manifolds on a playstation 123
Mobility of spatial multi-loop and mixed linkages 133
Human-like motion from physiologically-based potential energies 145
Role of biarticular muscles in human jump 155
Human hand movement kinematics and kinesthesia 163
Kinematic synthesis of avatar skeletons from visual data 171
Kinematics and modelling of a system for robotic surgery 181
Manipulability and accuracy measures for a medical robot in minimally invasive surgery 191
Helix-Helix packing in proteins : the kinematics of interacting line segments 199
Analysis of the influence of wires interference on the workspace of wire robots 211
Workspace classification of 3R orthogonal manipulators 219
Workspace classification of Stewart-Gough manipulators with planar base and platform 229
The orthoglide : kinematics and workspace analysis 237
A Cartesian representation for the boundary workspace of 3R manipulators 247
Kinematic isotropy and dynamic performances in translational parallel manipulators 255
Fully-isotropic T3R1-type parallel manipulators 265
The singular planes of the articulated arm subassembly 275
Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot 283
A force based approach to error analysis of parallel kinematic mechanisms 293
Analysis and optimization of a planar tendon-driven parallel manipulator 303
Closed-form equilibrium analysis of a planar tensegrity structure 313
Singularities and mobility of a class of 4-DOF mechanisms 321
Kinematics and dynamics of a 6-RUS Hunt-type parallel manipulator by using natural coordinates 329
The robust design of Schonflies-motion generators 339
Polyhedral zig-zag linkages 351
Variational motion design 361
New parallel wrists : special limbs with motion dependency 371
The design of a novel pitch-roll wrist with spherical cam-roller pairs 381
Design of a hybrid manipulator for painting highway signage 389
An optimal kinematic design for a highly dextrous MIS instrument 399
Achievable Cartesian stiffness with passively compliant, uncoupled joints 409
Movement primitives and principal component analysis 421
Parallel mechanisms with pseudo-planar motion generators 431
Multi-agent manipulator control and moving obstacle avoidance 441
Kinematics of a parallel mechanism for the generation of spherical motions 449
Control of a maneuvering mobile robot by transverse functions 459
Acceleration-driven kinematics of mobile manipulators : an endogenous configuration space approach 469
Dynamic dexterity and isotropy of mobile robots : an endogenous configuration space approach 477
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