On Advances in Robot Kinematics

✍ Scribed by Rocco Vertechy, Vincenzo Parenti-Castelli (auth.), J. Lenarčič, C. Galletti (eds.)

• Publisher: Springer Netherlands
• Year: 2004
• Tongue: English
• Leaves: 487
• Edition: 1
• Category: Library

✦ Synopsis

In the last decade, we have seen an extraordinary progress in the the­ ory and applications of robot kinematics. This has been motivated espe­ cially by the development of complex parallel and humanoid robots. The present book reports 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, automa­ tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re­ dundancy, force control, dexterity, inverse and forward kinematics, kine­ matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge­ bra. 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. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in­ dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.

Indexed in Conference Proceedings Citation Index- Science (CPCI-S)

✦ Table of Contents

Front Matter....Pages i-xi
Front Matter....Pages 1-1
A Fast and Accurate Method for the Singular Value Decomposition of 3×3 Matrices....Pages 3-12
SVD and PD Based Projection Metrics on SE(n)....Pages 13-22
Choice of Independent Coordinates in Modular Kinematics....Pages 23-30
Distance Constraints Solved Geometrically....Pages 31-40
Kinematic Mapping Application to Approximate Type and Dimension Synthesis of Planar Mechanisms....Pages 41-48
On the Ruled Surface Generated by a Linear Combination Screw....Pages 49-56
Lie-Group First-Order Operations in Rigid-Body Kinematics....Pages 57-66
First-Order Intrinsic Properties of the Rotation Parameters SO(3), Quaternion and Rotation Vector....Pages 67-76
Front Matter....Pages 77-77
Time-Invariant Properties of Planar Motions....Pages 79-88
Projective Properties of Parallel Manipulators....Pages 89-96
Screw Spaces and Connectivities in Multiloop Linkages....Pages 97-104
Kinematics Equations of a Class of 4DOF Parallel Wrists....Pages 105-112
Kinematic Structure of a Parallel Robot for MEMS Fabrication....Pages 113-122
Isolating Self-Motion Manifolds on a Playstation TM ....Pages 123-132
Mobility of Spatial Multi-Loop and Mixed Linkages....Pages 133-142
Front Matter....Pages 143-143
Human-Like Motion from Physiologically-Based Potential Energies....Pages 145-154
Role of Biarticular Muscles in Human Jump....Pages 155-162
Human Hand Movement Kinematics and Kinesthesia....Pages 163-170
Kinematic Synthesis of Avatar Skeletons from Visual Data....Pages 171-180
Kinematics and Modelling of a System for Robotic Surgery....Pages 181-190
Front Matter....Pages 143-143
Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery....Pages 191-198
Helix-Helix Packing in Proteins: The Kinematics of Interacting Line Segments....Pages 199-208
Front Matter....Pages 209-209
Analysis of the Influence of Wires Interference on the Workspace of Wire Robots....Pages 211-218
Workspaces Classification of 3R Orthogonal Manipulators....Pages 219-228
Workspace Classification of Stewart-Gough Manipulators with Planar Base and Platform....Pages 229-236
The Orthoglide: Kinematics and Workspace Analysis....Pages 237-246
A Cartesian Representation for the Boundary Workspace of 3R Manipulators....Pages 247-254
Kinematic Isotropy and Dynamic Performances in Translational Parallel Manipulators....Pages 255-264
Fully-Isotropic T3R1-Type Parallel Manipulators....Pages 265-272
Front Matter....Pages 273-273
The Singular Planes of the Articulated Arm Subassembly....Pages 275-282
Inverse Kinematics with Fuzzy Redundancy Resolution for a Fire Fighting Robot....Pages 283-292
A Force Based Approach to Error Analysis of Parallel Kinematic Mechanisms....Pages 293-302
Analysis and Optimization of a Planar Tendon-Driven Parallel Manipulator....Pages 303-312
Closed-Form Equilibrium Analysis of a Planar Tensegrity Structure....Pages 313-320
Singularities and Mobility of a Class of 4-DOF Mechanisms....Pages 321-328
Kinematics and Dynamics of a 6-RUS Hunt-Type Parallel Manipulator by Using Natural Coordinates....Pages 329-335
Front Matter....Pages 337-337
The Robust Design of Schönflies-Motion Generators....Pages 339-350
Polyhedral Zig-Zag Linkages....Pages 351-360
Variational Motion Design....Pages 361-370
New Parallel Wrists: Special Limbs with Motion Dependency....Pages 371-380
Front Matter....Pages 337-337
The Design of a Novel Pitch-Roll Wrist with Spherical Cam-Roller Pairs....Pages 381-388
Design of a Hybrid Manipulator for Painting Highway Signage....Pages 389-398
An Optimal Kinematic Design for a Highly Dextrous MIS Instrument....Pages 399-408
Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints....Pages 409-418
Front Matter....Pages 419-419
Movement Primitives and Principal Component Analysis....Pages 421-430
Parallel Mechanisms with Pseudo-Planar Motion Generators....Pages 431-440
Multi-Agent Manipulator Control and Moving Obstacle Avoidance....Pages 441-448
Kinematics of a Parallel Mechanism for the Generation of Spherical Motions....Pages 449-458
Control of a Maneuvering Mobile Robot by Transverse Functions....Pages 459-468
Acceleration-Driven Kinematics of Mobile Manipulators: An Endogenous Configuration Space Approach....Pages 469-476
Dynamic Dexterity and Isotropy of Mobile Robots: An Endogenous Configuration Space Approach....Pages 477-484
Back Matter....Pages 485-486

✦ Subjects

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