Advances in Robot Kinematics

✍ Scribed by Jadran Lenarčič, Oussama Khatib (eds.)

• Publisher: Springer International Publishing
• Year: 2014
• Tongue: English
• Leaves: 536
• Edition: 1
• Category: Library

✦ Synopsis

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained.

The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

✦ Table of Contents

Front Matter....Pages i-xii
Computing Cusps of 3R Robots Using Distance Geometry....Pages 1-9
Kinematic Mapping of SE(4) and the Hypersphere Condition....Pages 11-19
Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator....Pages 21-29
The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design....Pages 31-39
Impact of Perturbation on Wire Tension Vector....Pages 41-49
A Deployable Parallel Wrist with Simple Kinematics....Pages 51-58
Geometric Derivation of 6R Linkages with Circular Translation....Pages 59-67
Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation....Pages 69-76
Some Remarks on the RRR Linkage....Pages 77-85
Force Capability Polytope of a 4 R RR Redundant Planar Parallel Manipulator....Pages 87-94
Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach....Pages 95-103
Nonsingular Change of Assembly Mode Without any Cusp....Pages 105-112
The Influence of Discrete-Time Control on the Kinematico-Static Behavior of Cable-Driven Parallel Robot with Elastic Cables....Pages 113-121
Derivatives of Screw Systems in Body-Fixed Representation....Pages 123-130
Sharp Linkages....Pages 131-138
Solvable Multi-Fingered Hands for Exact Kinematic Synthesis....Pages 139-147
Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-R P S Parallel Robot....Pages 149-159
Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms....Pages 161-169
Human Motion Kinematics Assessment Using Wearable Sensors....Pages 171-180
Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and Its Homogenization....Pages 181-191
Human Motion Mapping to a Robot Arm with Redundancy Resolution....Pages 193-201
Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy....Pages 203-211
Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys....Pages 213-221
Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots....Pages 223-231
Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement....Pages 233-241
On the Limitations on the Lower and Upper Tensions for Cable-Driven Parallel Robots....Pages 243-251
Characterization of the Subsystems in the General Three-System of Screws....Pages 253-261
Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators....Pages 263-271
Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom....Pages 273-284
Points, Lines, Screws and Planes in Dual Quaternions Kinematics....Pages 285-293
Recovering Dual Euler Parameters From Feature-Based Representation of Motion....Pages 295-305
Kinematics and Dynamics of a 3- RP SR Parallel Robot Used as a Pipe-Bending Machine....Pages 307-316
Kinematic Synthesis of a Watt I Six-Bar Linkage for Body Guidance....Pages 317-325
Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis....Pages 327-334
Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications....Pages 335-344
Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints....Pages 345-353
The Kinematics of Containment....Pages 355-364
The Dimensional Synthesis of 3-R P R Parallel Mechanisms for a Prescribed Singularity-Free Constant-Orientation Workspace....Pages 365-373
Approximating Constrained Hand Paths Via Kinematic Synthesis with Contact Specifications....Pages 375-384
Investigation of Error Propagation in Multi-backbone Continuum Robots....Pages 385-394
Kinematics of Expansive Planar Periodic Mechanisms....Pages 395-407
From Inverse Kinematics to Optimal Control....Pages 409-418
New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators....Pages 419-427
Analysis of Constraint Equations and Their Singularities....Pages 429-436
Shape Optimized Heliostats for Kinematic Sun Tracking....Pages 437-445
Efficient Resolution of Hyper-Redundancy Using Splines....Pages 447-456
Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-endoscopy....Pages 457-465
Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator....Pages 467-474
On the Kinematics of an Innovative Parallel Robot for Brachytherapy....Pages 475-483
Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint....Pages 485-495
Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines....Pages 497-504
Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program....Pages 505-516
Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units....Pages 517-525
Motion Capability of the 3-RPS Cube Parallel Manipulator....Pages 527-535
Coupling of Trajectories for Human–Robot Cooperative Tasks....Pages 537-544
Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator....Pages 545-553
Back Matter....Pages 555-561

✦ Subjects

Robotics and Automation; Computational Science and Engineering; Vibration, Dynamical Systems, Control