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.
Author(s): R. J. Ellwood, D. Schütz, Annika Raatz, J. Hesselbach (auth.), Jadran Lenarcic, Michael M. Stanisic (eds.)
Edition: 1
Publisher: Springer Netherlands
Year: 2010
Language: English
Pages: 551
Tags: Robotics and Automation; Theoretical and Applied Mechanics; Industrial and Production Engineering; Control, Robotics, Mechatronics; Engineering Design
Front Matter....Pages i-xi
Front Matter....Pages 1-1
Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges....Pages 3-10
Dynamic Jacobian Inverses of Mobile Manipulator Kinematics....Pages 11-21
A Robust Forward Kinematics Analysis of 3-R P R Planar Platforms....Pages 23-32
Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations....Pages 33-43
Researching into Non-Singular Transitions in the Joint Space....Pages 45-52
MARIONET, A Family of Modular Wire-Driven Parallel Robots....Pages 53-61
Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis....Pages 63-70
Front Matter....Pages 72-72
Mechanical Generators of 2-DoF Translation along a Ruled Surface....Pages 73-80
Worm-Like Robotic Locomotion in Flexible Environment....Pages 81-89
Actuation Strategy Based on the Acceleration Model for the 3- P R P R Redundant Planar Parallel Manipulator....Pages 91-98
Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery....Pages 99-106
Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms....Pages 107-116
A Novel Actuation Module for Wearable Robots....Pages 117-125
Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction....Pages 127-136
Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy....Pages 137-144
Front Matter....Pages 146-146
Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator....Pages 147-156
Multiple-Point Kinematic Control of a Humanoid Robot....Pages 157-168
Optimum Design of a Pan-Tilt Drive for Parallel Robots....Pages 169-176
LQP-Based Controller Design for Humanoid Whole-Body Motion....Pages 177-184
Persistent Screw Systems....Pages 185-194
Front Matter....Pages 146-146
Localisation of the Instantaneous Axis of Rotation in Human Joints....Pages 195-202
A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle....Pages 203-210
Forward Kinematic Problem of 5- P RUR Parallel Mechanisms Using Study Parameters....Pages 211-221
Front Matter....Pages 224-224
The Development of a Reconfigurable Parallel Robot with Binary Actuators....Pages 225-232
On the Design of 5R Serial Manipulators with Isotropic Positioning....Pages 233-240
A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head....Pages 241-250
Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions....Pages 251-260
Front Matter....Pages 262-262
Equilibrium Analysis of Tensegrity Structures with Elastic Ties....Pages 263-272
Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle....Pages 273-282
Human Motion Reconstruction and Synthesis of Human Skills....Pages 283-292
Overconstrained Mechanisms with Radially Reciprocating Motion....Pages 293-300
Control of Bipedal Turning While Running....Pages 301-308
Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots....Pages 309-319
The Inverse Kinematics of 3-D Towing....Pages 321-328
A Complete Method for Workspace Boundary Determination....Pages 329-338
Front Matter....Pages 340-340
Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning....Pages 341-348
Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion from MRI Measurements....Pages 349-358
Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators....Pages 359-366
Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment....Pages 367-376
Geometric Interpolation by Quartic Rational Spline Motions....Pages 377-384
Front Matter....Pages 340-340
Position Level Kinematics of the Atlas Motion Platform....Pages 385-392
An Optimum Path Planning for LARM Clutched Arm....Pages 393-400
A Simple Kinematic Model of a Human Body for Virtual Environments....Pages 401-408
Front Matter....Pages 410-410
On the Development of Low Mass Shaking Force Balanced Manipulators....Pages 411-420
Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms....Pages 421-428
Geometric Kinematics of Rigid Bodies with Point Contact....Pages 429-436
Singularity Locus of 6–4 Fully-Parallel Manipulators....Pages 437-445
The Pre-Stereographic Model of the General Three-System of Screws....Pages 447-454
Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots....Pages 455-463
Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints....Pages 465-474
Characterization of Parallel Manipulator Available Wrench Set Facets....Pages 475-482
Front Matter....Pages 484-484
Constraint-Screw System Based Synthesis of Limb Arrangement of the 3- PUP Parallel Mechanism....Pages 485-492
On Structural Properties of Sets of Finite Displacement Screws....Pages 493-500
An Autonomous and Safe Homing Strategy for Parallel Kinematic Five-Bar Manipulators....Pages 501-508
Singularities of Regional Manipulators Revisited....Pages 509-519
Robot-Based HiL Test of Joint Endoprostheses....Pages 521-528
An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots....Pages 529-538
Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory....Pages 539-546
Back Matter....Pages 547-551
