Advances in Robot Kinematics

ISBN-13: 9783319357904 / Angielski / Miękka / 2016 / 561 str.

Jadran Lenarcic; Oussama Khatib

Opis

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained.The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

Spis treści

Computing Cusps of 3R Robots Using Distance Geometry

Kinematic Mapping of SE(4) and the Hypersphere Condition

Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator

The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design

Impact of Perturbation on Wire Tension Vector

A Deployable Parallel Wrist with Simple Kinematics

Geometric Derivation of 6R Linkages with Circular Translation

Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation

Some Remarks on the RRR Linkage

Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator

Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach

Non singular Change of Assembly Mode Without any Cusp

The Influence of Discrete-Time Control on the Kinematic-Static
Behavior of Cable-Driven Parallel Robot with Elastic Cables

Derivatives of Screw Systems in Body-fixed Representation

Sharp Linkages

Solvable Multi-Fingered Hands for Exact Kinematic Synthesis

Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot

Influence of spring characteristics on the behavior of Tensegrity Mechanisms

Human Motion Kinematics Assessment Using Wearable Sensors

Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization

Human Motion Mapping to a Robot Arm with Redundancy Resolution

Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy

Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys

Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots

Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement

On the Limitations on the Lower and Upper Tensions for Cable-driven Parallel Robots

Characterization of the Subsystems in the General Three-System of Screws

Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators

Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom

Points, Lines, Screws and Planes in Dual Quaternions Kinematic

Recovering Dual Euler Parameters from Feature-based Representation of Motion

Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine

Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance

Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis

Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications

Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints

The Kinematics of Containment

The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a
Approximating Constrained Hand Paths via Kinematic Synthesis with Contact Specifications

Investigation of Error Propagation in Multi-Backbone Continuum Robots

Kinematics of Expansive Planar Periodic Mechanisms

From Inverse Kinematics to Optimal Control

New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators

Analysis of Constraint Equations and Their Singularities

Shape Optimized Heliostats for Kinematic Sun Tracking

Efficient Resolution of Hyper-Redundancy Using Splines

Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy

Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator

On the Kinematics of an Innovative Parallel Robot for Brachytherapy
Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint

Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines

Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program

Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units

Motion Capability of the 3-RPS Cube Parallel Manipulator

Coupling of Trajectories for Human-Robot Cooperative Tasks

Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator