Latest Advances in Robot Kinematics

✍ Scribed by Jorge Angeles (auth.), Jadran Lenarcic, Manfred Husty (eds.)

• Publisher: Springer Netherlands
• Year: 2012
• Tongue: English
• Leaves: 467
• Edition: 1
• Category: Library

✦ Synopsis

This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained.
In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

✦ Table of Contents

Front Matter....Pages I-XI
The Dual Generalized Inverses and Their Applications in Kinematic Synthesis....Pages 1-10
On the Twist Recovery Methodologies After Failure....Pages 11-18
A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms....Pages 19-26
Self-Motions of Planar Projective Stewart Gough Platforms....Pages 27-34
Asymptotic Singularities of Planar Parallel 3-R P R Manipulators....Pages 35-42
Classification of the Singularity Loci of m-n Fully-Parallel Manipulators....Pages 43-50
Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains....Pages 51-58
Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm....Pages 59-66
Robotic Fish Kinectics Design Based on a Fuzzy Control....Pages 67-74
Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points....Pages 75-82
Trajectory Planning for Systems with Homotopy Class Constraints....Pages 83-90
Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action....Pages 91-98
On the Vertical Darboux Motion....Pages 99-106
Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting....Pages 107-114
Motion Planning for Parallel Robots with Non-holonomic Joints....Pages 115-122
Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs)....Pages 123-130
Type Synthesis of Binary Actuated Parallel Mechanisms....Pages 131-138
Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System....Pages 139-146
Persistent Screw Systems of Dimension Four....Pages 147-156
Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough–Stewart Platforms....Pages 157-164
Dynamic Capabilities of a Parallel Robot Based Routing Machine....Pages 165-172
Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks....Pages 173-180
Inverse Kinematics Solver for Android Faces with Elastic Skin....Pages 181-188
Decomposing Envelopes of Rational Hypersurfaces....Pages 189-196
Influence of Pulley Kinematics on Cable-Driven Parallel Robots....Pages 197-204
Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials....Pages 205-212
Construction of Overconstrained Linkages by Factorization of Rational Motions....Pages 213-220
Bond Theory and Closed 5R Linkages....Pages 221-228
Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry....Pages 229-236
Design and Control of a Redundant Suspended Cable-Driven Parallel Robots....Pages 237-244
Planning Singularity-Free Force-Feasible Paths on the Stewart Platform....Pages 245-252
Orientation Capability of a 3-RPSR Parallel Mechanism for a Movable-Die Drive Mechanism of Pipe Bender....Pages 253-260
Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings....Pages 261-268
Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors....Pages 269-276
Protein Folding Pathways Implementing Dihedral Angle Variable Speed....Pages 277-284
Sufficient Conditions for the Mobility of Overconstrained Mechanisms....Pages 285-292
Some Rigid-Body Constraint Varieties Generated by Linkages....Pages 293-300
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait....Pages 301-308
Inherently Balanced 4R Four-Bar Based Linkages....Pages 309-316
Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms....Pages 317-324
Positional Workspace Boundary for Serial Manipulators with Revolute Joints....Pages 325-332
Kinematics Analysis of a Parallel Surgical Robot....Pages 333-340
Constraint Singularity-Free Design of the IRSBot-2....Pages 341-348
Human Muscle Fatigue Model in Dynamic Motions....Pages 349-356
Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace....Pages 357-364
Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables....Pages 365-372
The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects....Pages 373-380
A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism....Pages 381-388
Velocity Level Kinematic Analysis of Serial n A-Chains....Pages 389-396
Singular Manifold of the General Hexagonal Stewart Platform Manipulator....Pages 397-404
Managing the Redundancy of N −1 Wire-Driven Parallel Robots....Pages 405-412
Dynamics of the Upper Limb with a Detailed Model for the Shoulder....Pages 413-420
Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors....Pages 421-428
Mobile Robot Motion Primitives That Take into Account the Cost of Control....Pages 429-436
Synthesis of Spatial CC Dyads and 4C Mechanisms for Pick & Place Tasks with Guiding Locations....Pages 437-444
On the Role of Passive Structures in the Knee Loaded Motion....Pages 445-452
Back Matter....Pages 453-457

✦ Subjects

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