On Advances in Robot Kinematics / Edition 1

Hardcover (Print)
Used and New from Other Sellers
Used and New from Other Sellers
from $376.13
Usually ships in 1-2 business days
Other sellers (Hardcover)
  • All (1) from $376.13   
  • Used (1) from $376.13   
Sort by
Page 1 of 1
Showing All
Note: Marketplace items are not eligible for any BN.com coupons and promotions
Seller since 2014

Feedback rating:



New — never opened or used in original packaging.

Like New — packaging may have been opened. A "Like New" item is suitable to give as a gift.

Very Good — may have minor signs of wear on packaging but item works perfectly and has no damage.

Good — item is in good condition but packaging may have signs of shelf wear/aging or torn packaging. All specific defects should be noted in the Comments section associated with each item.

Acceptable — item is in working order but may show signs of wear such as scratches or torn packaging. All specific defects should be noted in the Comments section associated with each item.

Used — An item that has been opened and may show signs of wear. All specific defects should be noted in the Comments section associated with each item.

Refurbished — A used item that has been renewed or updated and verified to be in proper working condition. Not necessarily completed by the original manufacturer.

Very Good
2004 Hardback NEAR FINE 9781402022487 Hardback, This listing is a new book, a title currently in-print which we order directly and immediately from the publisher. *****PLEASE ... NOTE: This item is shipping from an authorized seller in Europe. In the event that a return is necessary, you will be able to return your item within the US. To learn more about our European sellers and policies see the BookQuest FAQ section***** Read more Show Less

Ships from: Stroud, Glos, United Kingdom

Usually ships in 1-2 business days

  • Canadian
  • Standard, 48 States
  • Standard (AK, HI)
Page 1 of 1
Showing All
Sort by

More About This Textbook


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.

Read More Show Less

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
Read More Show Less

Customer Reviews

Be the first to write a review
( 0 )
Rating Distribution

5 Star


4 Star


3 Star


2 Star


1 Star


Your Rating:

Your Name: Create a Pen Name or

Barnes & Noble.com Review Rules

Our reader reviews allow you to share your comments on titles you liked, or didn't, with others. By submitting an online review, you are representing to Barnes & Noble.com that all information contained in your review is original and accurate in all respects, and that the submission of such content by you and the posting of such content by Barnes & Noble.com does not and will not violate the rights of any third party. Please follow the rules below to help ensure that your review can be posted.

Reviews by Our Customers Under the Age of 13

We highly value and respect everyone's opinion concerning the titles we offer. However, we cannot allow persons under the age of 13 to have accounts at BN.com or to post customer reviews. Please see our Terms of Use for more details.

What to exclude from your review:

Please do not write about reviews, commentary, or information posted on the product page. If you see any errors in the information on the product page, please send us an email.

Reviews should not contain any of the following:

  • - HTML tags, profanity, obscenities, vulgarities, or comments that defame anyone
  • - Time-sensitive information such as tour dates, signings, lectures, etc.
  • - Single-word reviews. Other people will read your review to discover why you liked or didn't like the title. Be descriptive.
  • - Comments focusing on the author or that may ruin the ending for others
  • - Phone numbers, addresses, URLs
  • - Pricing and availability information or alternative ordering information
  • - Advertisements or commercial solicitation


  • - By submitting a review, you grant to Barnes & Noble.com and its sublicensees the royalty-free, perpetual, irrevocable right and license to use the review in accordance with the Barnes & Noble.com Terms of Use.
  • - Barnes & Noble.com reserves the right not to post any review -- particularly those that do not follow the terms and conditions of these Rules. Barnes & Noble.com also reserves the right to remove any review at any time without notice.
  • - See Terms of Use for other conditions and disclaimers.
Search for Products You'd Like to Recommend

Recommend other products that relate to your review. Just search for them below and share!

Create a Pen Name

Your Pen Name is your unique identity on BN.com. It will appear on the reviews you write and other website activities. Your Pen Name cannot be edited, changed or deleted once submitted.

Your Pen Name can be any combination of alphanumeric characters (plus - and _), and must be at least two characters long.

Continue Anonymously

    If you find inappropriate content, please report it to Barnes & Noble
    Why is this product inappropriate?
    Comments (optional)