Recent Advances in Robot Kinematics

✍ Scribed by J. Nielsen, B. Roth (auth.), Jadran Lenarčič, Vincenzo Parenti-Castelli (eds.)

• Publisher: Springer Netherlands
• Year: 1996
• Tongue: English
• Leaves: 456
• Edition: 1
• Category: Library

✦ Synopsis

The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz­ Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.

✦ Table of Contents

Front Matter....Pages i-v
Front Matter....Pages 5-5
The Direct Kinematics of the General 6–5 Stewart-Gough Mechanism....Pages 7-16
The Kinematic Sensitivities of Redundant Robotic Manipulators....Pages 17-26
Front Matter....Pages 27-27
Modular Decomposition for Optimal Dynamic Design of Redundant Macro/Mini Manipulators....Pages 29-38
Singularity-Robust Second-Order Kinematic Control of Robot Manipulators....Pages 39-46
Dynamics and Control of Elastic Joint Robots on a Group Configurational Manifold....Pages 47-56
Simulation of Grasping with a Flexible-Joint Robot....Pages 57-66
On-Line Collision-Recognition and Collision-Avoidance Control for Redundant Articulated Robots....Pages 67-76
Gradient-Based Kinematic Control of Nonredundant Serial Robots in Special Configurations....Pages 77-86
Front Matter....Pages 87-87
Kinematics of a Three Degree-Of-Freedom Motion Platform for a Low-Cost Driving Simulator....Pages 89-98
Kinematic Manipulability of Closed Chains....Pages 99-108
Singularity Analysis and Categorisation of Generic 3-R Regional Manipulators....Pages 109-118
Coordinate-Free Formulation of the Cartesian Stiffness Matrix....Pages 119-128
Stability Analysis of Compliant Mechanisms....Pages 129-138
Acceleration Analysis, Via Screw Theory, and Characterization of Singularities of Closed Chains....Pages 139-148
Front Matter....Pages 149-149
Computer Aided Design of Robot Trajectories Using Rational Motions....Pages 151-158
Optimum Design of Closed Kinematic Chains in the Presence of Obstacles....Pages 159-168
Synthesis of Discretely Actuated Manipulator Workspaces VIA Harmonic Analysis....Pages 169-178
Optimal Location of Path Following Tasks in the Workspace of a Manipulator Using Genetic Algorithms....Pages 179-188
Feasible Workspace Regions for a Two-Revolute Manipulator Design....Pages 189-198
Determination of the Workspace of 4R Manipulator: Basic Case and Particular Cases....Pages 199-204
Front Matter....Pages 205-205
A Discussion on Metric Relations in Spatial Kinematics: Implicit and Explicit Formulas and Functional Dependence....Pages 207-216
Tongue Model for Characterizing Vocal Tract Kinematics....Pages 217-224
A New and Efficient Method for Symbolical Calculation of the Jacobian Matrix....Pages 225-234
Quaternion Based Force-Torque Analysis of Open Serial Kinematic Structures....Pages 235-244
Dual Vectors of the Kinematic and the Dynamic Kind in Matrices....Pages 245-254
Dual Numbers, Lie Algebra and 6R Inverse Kinematics....Pages 255-264
Backbone Curves to Approximate Minimum Joint Torque Configurations of Planar Multiple-Link Manipulators in Presence of Obstacles....Pages 265-274
Front Matter....Pages 275-275
Simulating the Motion of a Nonholonomic Robot and Its Trailer....Pages 277-286
Screwball: A User Interface for Specifying Screws....Pages 287-296
Simulation of Flexible Manipulators Based on Their Newton-Euler Model....Pages 297-306
Modeling of a Braced Robot with Four-Bar Mechanism....Pages 307-316
A Remarkable Class of Overconstrained Linkages....Pages 317-324
How to Extend Roberts’ Law for Eccentrically Driven, Inverted Slider-Cranks....Pages 325-336
Front Matter....Pages 337-337
On Self-Motions of a Class of Parallel Manipulators....Pages 339-348
On the Design of Parallel Manipulators for a Prescribed Workspace: A Planar Quaternion Approach....Pages 349-358
Kinematotropic Linkages....Pages 359-368
The Interest of Redundancy for the Design of a Spherical Parallel Manipulator....Pages 369-378
Forward Kinematics and Mobility Criteria of One Type of Symmetric Stewart-Gough Platforms....Pages 379-388
Singularity Analysis and Representation of Spatial Six-Dof Parallel Manipulators....Pages 389-398
Front Matter....Pages 399-399
Kinematics of A Three-Dof Platform with Three Extensible Limbs....Pages 401-410
Front Matter....Pages 399-399
A Class of Fully Parallel Manipulators with Closed-Form Forward Position Kinematics....Pages 411-420
Kinematic Mapping of 3-Legged Planar Platforms with Holonomic Higher Pairs....Pages 421-430
A Forward Analysis of a Two Degree of Freedom Parallel Manipulator....Pages 431-440
Closed Plane Mechanisms as a Basis of Parallel Manipulators....Pages 441-450
A 3-D Sensor for Parallel Robot Calibration. A Parameter Perturbation Analysis....Pages 451-460
Back Matter....Pages 461-461

✦ Subjects

Vibration, Dynamical Systems, Control; Electrical Engineering; Mechanical Engineering; Appl.Mathematics/Computational Methods of Engineering