Advances in Robot Kinematics

by Jadran Lenarcic (Editor), M.M. Stanisic (Editor)

Overview

The fifth volume of the series Advances in Robot Kinematics presents 53 rigorously reviewed articles selected from a June 2002 international symposium in Caldes de Malavella, Spain. Considering both parallel and serial multi-degrees-of-freedom systems, they report results from recent research—many not previously published—into such issues as synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, and over-constrained systems. Among the methods they use are line geometry, quaternion algebra, screw algebra, and linear algebra. There is no subject index. Annotation ©2003 Book News, Inc., Portland, OR

Product Details

ISBN-13:	9780792364269
Publisher:	Springer Netherlands
Publication date:	06/30/2000
Edition description:	2000
Pages:	442
Product dimensions:	6.10(w) x 9.25(h) x 0.24(d)

Table of Contents

1.	Methods in Kinematics
	Study's kinematic mapping--A tool for motion design	7
	Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra	17
	Unit quaternion and CRV: Complementary non-singular representations of rigid-body orientation	27
	Numerically stable methods for converting rotation matrices to Euler parameters	35
	Geometry of homokinematic spatial Cardan shafts by dual methods	43
	A concise Bezier clipping technique for solving inverse kinematics problems	53
	Geometric calibration of robots using multiple plane constraints	61
2.	Kinematic Synthesis
	On isotropic sets of points in the plane. Application to the design of robot architectures	73
	Fourier methods for synthesis of coupled serial chain mechanisms	83
	Dimensional synthesis of spatial RR robots	93
	Approximate motion synthesis via parametric constraint manifold fitting	103
	Designing linkages with symmetric motions: The spherical case	111
	Kinematic synthesis of planar platforms with RPR, PRR, and RRR chains	119
3.	Force Analysis
	Impact analysis as a design tool for the legs of mobile robots	129
	Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control	137
	The Melbourne hand	147
	Active force closure for multiple objects	155
	SCALPP: A 6-dof robot with a non-spherical wrist for surgical applications	165
	A framework for multi-contact multi-body dynamic simulation and haptic display	175
	On the dynamics of a class of parallel robots	187
4.	Kinematic Redundancy
	A simplified criterion for the repeatability of redundant manipulators	199
	An intuitive interface for nullspace teaching of redundant robots	209
	Methods for resolving velocity degeneracies of joint-redundant manipulators	217
	Novel kinematics for continuum robots	227
	The optimum quality index for a spatial redundant 4-8 in-parallel manipulator	239
	Fuzzy inverse kinematics for underwater vehicle-manipulator systems	249
5.	Parallel Mechanisms and Workspace Analysis
	Symmetries in workspace densities of discretely actuated manipulators	259
	Workspace characterization of planar three-legged platforms with holonomic higher pairs	267
	Estimating the controllable workspace of tendon-based Stewart platforms	277
	The chord method for the determination of non-convex workspaces of planar parallel platforms	285
	Elasto-kinematic design tools for parallel mechanisms	295
	Kinematic analysis of a new parallel machine tool: the orthoglide	305
	Optimal trajectory planning of a 5-axis machine-tool based on a 6-axis parallel manipulator	315
6.	Analysis and Application of Parallel Mechanisms
	A 4-dof parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex	325
	Parallel mechanisms applied to the human knee passive motion simulation	333
	A geometric model for cylinder-cylinder impact with application to vertebrae motion simulation	345
	Architecture singular parallel manipulators and their self-motions	355
	Architectural shakiness or architectural mobility of platforms	365
	Mobius mechanisms	375
7.	Parallel Mechanisms and Screw Algebra
	Direct kinematics of the double-triangular manipulator: An exercise in geometric thinking	385
	A three-dof tripod for generating spherical rotation	395
	Kinematical analysis and simulation of a new parallel mechanism for robotics' application	403
	Early studies in screw theory	411
	On deriving infinitesimal twists and velocity screws from finite displacement screws	423
	Synthesis by screw algebra of translating in-parallel actuated mechanisms	433
	Author Index	441

Editorial Reviews

Papers from a June 2000 symposium held in Slovenia present recent advances in the theory, design, control, and application of robotic systems intended for manipulation, manufacturing, automation, surgery, locomotion, and biomechanics. Issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, and 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. Lenarcic is affiliated with J. Stefan Institute, Slovenia. Stanisic teaches aerospace and mechanical engineering at the University of Notre Dame. Annotation c. Book News, Inc., Portland, OR (booknews.com)

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