Advances in Robot Kinematics

by Lenarcic, Jadran; Husty, Manfred L.; International Federation for the Theory of Machines and Mechanisms

• ISBN13: 9780792351696
• ISBN10: 079235169X
• Format: Hardcover
• Copyright: 1998-09-01
• Publisher: Kluwer Academic Pub

Summary

The book presents the state of the art and recent advances in the area of kinematics of robots and mechanisms. It consists of about fifty outstanding contributions dedicated to various aspects of kinematic modelling and control, emphasising in particular the kinematic performances of robots and mechanisms, workspace and trajectory analysis, numerical and symbolic computational methods and algorithms, analysis, simulation and optimisation. The book is of interest to researchers, graduate students, and engineers specialising in the kinematics of robots and mechanisms. It should also be of interest to those engaged in work relating to kinematic chains, mechatronics, mechanism design, biomechanics and intelligent systems.

Table of Contents

1. Plenary	7	(22)
P. Dietmaier
The Stewart-Gough platform of general geometry can have 40 real postures	7	(10)
K.J. Waldron
P-H. Yang
Parallel arrays of binary actuators	17	(12)
2. Kinematics of Parallel Robots	29	(88)
B. Siciliano
A study on the kinematics of a class of parallel manipulators	29	(10)
J-P. Merlet
Determination of the presence of singularities in 6D workspace of a Gough parallel manipulator	39	(10)
R. Di Gregorio
V. Parenti-Castelli
A translational 3-dof parallel manipulator	49	(10)
M.J.D. Hayes
P.J. Zsombor-Murray
Inverse kinematics of a planar manipulator with holonomic higher pairs	59	(10)
A.P. Murray
F. Pierrot
N-position synthesis of parallel planar RPR platforms	69	(10)
M.L. Keler
Dual expansion of an optimal in-parallel spherical platform device into a spatial one	79	(8)
S. Wang
H. Hikita
N. Hanajima
M. Yamashita
Y. Zhao
Z. Huang
Kinematics and force analysis of a 6 d.o.f. parallel mechanism with elastic joints	87	(10)
T. Maier
C. Woernle
Inverse kinematics for an underconstrained cable suspension manipulator	97	(8)
R. Verhoeven
M. Hiller
S. Tadokoro
Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms	105	(12)
3. Direct Analysis and Design of Parallel Robots	117	(70)
Ph. Wenger
D. Chablat
Workspace and assembly modes in fully-parallel manipulators: a descriptive study	117	(10)
L. Baron
J. Angeles
The on-line direct kinematics of parallel manipulators under joint-sensor redundancy	127	(10)
C. Innocenti
Forward kinematics of a 6-6 fully-parallel manipulator with congruent base and platform	137	(10)
T.K. Tanev
Forward displacement analysis of a three-legged four-degree-of-freedom parallel manipulator	147	(8)
V. Brodsky
D. Glozman
M. Shoham
Double circular-triangular six-degrees-of-freedom parallel robot	155	(10)
J. Hesselbach
N. Plitea
M. Frindt
A. Kusiek
A new parallel mechanism to use for cutting convex glass panels	165	(10)
A.B. Lintott
G.R. Dunlop
Geometric modelling of general parallel mechanisms for calibration purposes	175	(12)
4. Control and Design	187	(80)
B. Espiau
On the mass center of articulated chains	187	(10)
W. Wroblewski
F. Caccavale
A spatial algebra approach to kinematic control of dual-arm systems	197	(10)
M. Vincze
S. Spiess
M. Gotz
G. Zeichen
Automatic generation of error models of the kinematics of robots	207	(10)
F. Pierrot
M. Benoit
P. Dauchez
Samos: A Pythagorean solution for omni-directional underwater vehicles	217	(10)
C.R. Tischler
A.E. Samuel
Predicting the slop of in-series/parallel manipulators caused by joint clearances	227	(10)
J.M. Wiitala
M.M. Stanisic
Kinematics of a split-equator symmetrically actuated double pointing system used in a robotic wrist	237	(10)
M. Ceccarelli
An analytical design of telescopic manipulator arms for prescribed workspace	247	(8)
P. Fanghella
Modular kinematics of planar mechanisms with prismatic pairs and flexible links	255	(12)
5. Basic Kinematics, Application of Screw Theory	267	(88)
P. Zsombor-Murray
M.L. Husty
P. Gervasi
Geometry in mechanics	267	(10)
K. Wohlhart
The kinematics of Roschel polyhedra	277	(10)
H. Stachel
A remarkable overconstrained spherical motion	287	(10)
E. Peisach
Analytical kinematics of overconstrained 20-link 24R mechanism: Branches with one, two and three degrees of freedom	297	(10)
J. Duffy
C. Crane
B. Knight
J. Rooney
An investigation of a special motion of an octahedron manipulator using screw theory	307	(10)
I.A. Parkin
Linear systems of tan-screws for finite displacement of a rigid body with symmetries	317	(10)
L.W. Tsai
The Jacobian analysis of a parallel manipulator using reciprocal screws	327	(10)
J.E. Baker
I.A. Parkin
On compounding three successive finite displacement screws	337	(6)
H. Bruyninckx
J. De Schutter
Unified kinetostatics for serial, parallel and mobile robots	343	(12)
6. Special Methods in Kinematic Analysis	355	(70)
A.B. Kyatkin
G.S. Chirikjian
Applications of Fourier methods on the motion group in robot kinematics	355	(10)
J.P. Desai
M. Zefran
V. Kumar
A geometric approach to second and higher order kinematic analysis	365	(10)
A.A. Khwaja
M.O. Rahman
M.G. Wagner
Inverse kinematics of arbitrary robotic manipulators using genetic algorithms	375	(8)
P. Gervasi
V. Karakusevic
P.J. Zsombor-Murray
An algorithm for solving the inverse kinematics of a 6R serial manipulator using dual quaternions and Grassmannians	383	(10)
A. Castellet
F. Thomas
An algorithm for the solution of inverse kinematics problems based on an interval method	393	(10)
H. Pottmann
M. Peternell
B. Ravani
Approximation in line space--applications in robot kinematics and surface reconstruction	403	(10)
B. Juttler
Rotation minimizing spherical motions	413	(12)
7. Isotropy versus Singularity	425	(88)
N. Arenson
J. Angeles
L. Slutski
Redundancy-resolution algorithms for isotropic robots	425	(10)
Jose Maria Rico M.
J. Duffy
Robot isotropy: A reassessment	435	(10)
A. Karger
Architecture singular parallel manipulators	445	(10)
S. Mick
O. Roschel
Geometry & architecturally shaky platforms	455	(10)
O. Roschel
S. Mick
Characterisation of architecturally shaky platforms	465	(10)
G. Schreiber
G. Hirzinger
Singularity consistent inverse kinematics by enhancing the Jacobian transpose	475	(8)
F.C. Park
J.W. Kim
A singularity classification for closed chains	483	(10)
P.H. Milenkovic
V. Milenkovic
Coordination of redundant articulatory parameters near a singularity in the vocal mechanism	493	(8)
F. Boyer
N. Glandais
W Khalil
Jacobian of a flexible manipulator undergoing large elastic displacements	501	(12)
8. Biorobotics	513	(66)
P. Drouet
S. Dubowsky
C. Mavroidis
Compensation of geometric and elastic deflection errors in large manipulators based on experimental measurements: application to a high accuracy medical manipulator	513	(10)
D. Ruspini
O. Khatib
Dynamic models for haptic rendering systems	523	(10)
L. Royer
C. Bidard
C. Andriot
Determination of singularities and self-motion of a 7-dof anthropomorphic manipulator	533	(10)
T. Karcnik
A. Kralj
Kinematic stability in quadrupedal locomotion	543	(8)
J. Hesselbach
M.B. Helm
H. Kerle
M. Frindt
A-M. Weinberg
Kinematics of the human forearms pro- and supination	551	(10)
V. Kromer
A. Rassineux
M. Gueury
The human lower limb system during swing phase of gait--A flexible mechanism with optimized actuators	561	(10)
J. Lenarcic
The self motion of an anthropomorphic manipulator	571	(8)
Author Index	579	(2)
Subject Index	581