Advances in Robot Kinematics

✍ Scribed by A. Gfrerrer (auth.), J. Lenarčič, M. M. Stanišić (eds.)

• Publisher: Springer Netherlands
• Year: 2000
• Tongue: English
• Leaves: 440
• Edition: 1
• Category: Library

✦ Synopsis

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, automation, 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. All articles in the book were reported at the seventh international symposium on Advances in Robot Kinematics that was organised in June 2000 in the beautiful ancient Mediterranean town of Piran in Slovenia. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996), and Salzburg (1998).

✦ Table of Contents

Front Matter....Pages i-3
Front Matter....Pages 5-5
Study’s Kinematic Mapping — A Tool for Motion Design....Pages 7-16
Kinestatic Analysis of Serial and Parallel Robot Manipulators Using Grassmann-Cayley Algebra....Pages 17-26
Unit Quaternion and CRV: Complementary Non-Singular Representations of Rigid-Body Orientation....Pages 27-34
Numerically Stable Methods for Converting Rotation Matrices to Euler Parameters....Pages 35-42
Geometry of Homokinematic Spatial Cardan Shafts by Dual Methods....Pages 43-52
A Concise Bézier Clipping Technique for Solving Inverse Kinematics Problems....Pages 53-60
Geometric Calibration of Robots Using Multiple Plane Constraints....Pages 61-70
Front Matter....Pages 71-71
On Isotropic Sets of Points in the Plane. Application to the Design of Robot Architectures....Pages 73-82
Fourier Methods for Synthesis of Coupled Serial Chain Mechanisms....Pages 83-92
Dimensional Synthesis of Spatial RR Robots....Pages 93-102
Approximate Motion Synthesis Via Parametric Constraint Manifold Fitting....Pages 103-110
Designing Linkages with Symmetric Motions: The Spherical Case....Pages 111-118
Kinematic Synthesis of Planar Platforms with RPR, PRR, and RRR Chains....Pages 119-127
Front Matter....Pages 127-127
Impact Analysis as a Design Tool for the Legs of Mobile Robots....Pages 129-136
Vehicle Wheel-Ground Contact Angle Estimation: With Application to Mobile Robot Traction Control....Pages 137-146
The Melbourne Hand....Pages 147-154
Active Force Closure for Multiple Objects....Pages 155-164
SCALPP: A 6-DOF Robot with a Non-Spherical Wrist for Surgical Applications....Pages 165-174
A Framework for Multi-Contact Multi-Body Dynamic Simulation and Haptic Display....Pages 175-186
On the Dynamics of a Class of Parallel Robots....Pages 187-196
Front Matter....Pages 197-197
A Simplified Criterion for the Repeatability of Redundant Manipulators....Pages 199-208
An Intuitive Interface for Nullspace Teaching of Redundant Robots....Pages 209-216
Methods for Resolving Velocity Degeneracies of Joint-Redundant Manipulators....Pages 217-226
Novel Kinematics for Continuum Robots....Pages 227-238
The Optimum Quality Index for a Spatial Redundant 4–8 in-Parallel Manipulator....Pages 239-248
Fuzzy Inverse Kinematics for Underwater Vehicle-Manipulator Systems....Pages 249-256
Front Matter....Pages 257-257
Symmetries in Workspace Densities of Discretely Actuated Manipulators....Pages 259-266
Workspace Characterization of Planar Three-Legged Platforms with Holonomic Higher Pairs....Pages 267-276
Estimating the Controllable Workspace of Tendon-Based Stewart Platforms....Pages 277-284
The Chord Method for the Determination of Non-Convex Workspaces of Planar Parallel Platforms....Pages 285-294
Elasto-Kinematic Design Tools for Parallel Mechanisms....Pages 295-304
Kinematic Analysis of a New Parallel Machine Tool: The Orthoglide....Pages 305-314
Optimal Trajectory Planning of a 5-Axis Machine-Tool Based on a 6-Axis Parallel Manipulator....Pages 315-322
Front Matter....Pages 323-323
A 4-dof Parallel Mechanism Simulating the Movement of the Human Sternum-Clavicle-Scapula Complex....Pages 325-332
Parallel Mechanisms Applied to the Human Knee Passive Motion Simulation....Pages 333-344
A Geometric Model for Cylinder-Cylinder Impact with Application to Vertebrae Motion Simulation....Pages 345-354
Architecture Singular Parallel Manipulators and their Self-Motions....Pages 355-364
Architectural Shakiness or Architectural Mobility of Platforms....Pages 365-374
Möbius Mechanisms....Pages 375-382
Front Matter....Pages 383-383
Direct Kinematics of the Double-Triangular Manipulator: An Exercise in Geometric Thinking....Pages 385-394
Front Matter....Pages 383-383
A Three-dof Tripod for Generating Spherical Rotation....Pages 395-402
Kinematical Analysis and Simulation of a New Parallel Mechanism for Robotics’ Application....Pages 403-410
Early Studies in Screw Theory....Pages 411-422
On Deriving Infinitesimal Twists and Velocity Screws from Finite Displacement Screws....Pages 423-432
Synthesis by Screw Algebra of Translating in-Parallel Actuated Mechanisms....Pages 433-440
Back Matter....Pages 441-442

✦ Subjects

Vibration, Dynamical Systems, Control;Numeric Computing;Mechanical Engineering;Mechanics;Electrical Engineering