Advances in Robot Kinematics: Motion in Man and Machine

ISBN-13: 9789048192618 / Angielski / Twarda / 2010 / 551 str.

Jadran Lenarcic; Michael M. Stanisic

Opis

The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic 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. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.

Spis treści

Preface; Chapter 1; Introduction and Announcements; R. J. Ellwood, D. Schuetz, A. Raatz and J. Hesselbach: Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges; K. Tcho?, J. Jakubiak and ?. Ma?ek: Dynamic Jacobian Inverses of Mobile Manipulator Kinematics; N. Rojas and F. Thomas: A Robust Forward Kinematics Analysis of 3RPR planar Platforms; M. Vona: Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations; M. Urízar, V. Petuya, O. Altuzarra and A. Hernández: Researching into Nonsingular Transitions in the Joint Space; J.-P. Merlet: MARIONET, a Family of Modular Wire-Driven Parallel Robots; A. Wolf, I. Sharf and M. B. Rubin: Using Cosserat Points Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis; Chapter 2: C.-C. Lee and J. M. Hervé: Mechanical Generators of 2-DOF Translation Along a Ruled Surface; D. Zarrouk, I. Sharf and M. Shoham: Worm-like Robotic Locomotion in Flexible Environment; M. Ruggiu and J. Carretero: Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator; D. Pisla, N. Plitea, B. G. Gherman, C. Vaida and M. Suciu: Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery; G. Nawratil: Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms; M. Bergamasco, F. Salsedo, S. Marcheschi, N. Lucchesi: A Novel Actuation Module for Wearable Robots; R. Vertechy, G. Berselli, M. Bergamasco and V. Parenti-Castelli: Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction; S.Ambike, J. P. Schmiedeler and Staniši?: Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy; Chapter 3: S. Abdelaziz, P. Renaud, B. Bayle and M. de Mathelin: Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator; De Santis, G. Di Gironimo, L. Pelliccia, B. Siciliano, A. Tarallo: Multiple-Point Kinematic Controlof a Humanoid Robot; D. Alizadeh, J. Angeles and S. Nokleby: Optimum Design of a Pan-tilt Drive for Parallel Robots; J. Salini, S. Barthélemy and P. Bidaud : LQP-Based Controller Design for Humanoid Whole-Body Motion; M. Carricato and J. M. Rico Martínez: Persistent Screw Systems; B. Bru and V. Pasqui: Localisation of the Instantaneous Axis of Rotation in Human Joints; Z. Shahbazi, T. A. P. F. Pimentel, H. Ilies, K. Kazerounian and P. Burkhard: A Kinematic Observation and Conjecture for Stable Construct of a Peptide Nanoparticle; M. T. Masouleh, M. Husty and C. Gosselin: Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters; Chapter 4: D. Schütz, A. Raatz and J. Hesselbach: The Development of a Reconfigurable Parallel Robot with Binary Actuators; L. Baron: On the Design of 5R Serial Manipulators with Isotropic Positioning; D. Omr?en and A. Ude: A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head; T. T. Um, B. Kim and F. C. Park: Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions; Chapter 5: O. Anubi and C. Crane: Equilibrium Analysis of Tensegrity Structures with Elastic Ties; S. Amine, D. Kanaan, S. Caro and P. Wenger: Singularity Analysis of Lower-Mobility Parallel Robots with and Articulated Nacelle; E. Demircan, T. Besier, S. Menon and O. Khatib: Human Motion Reconstruction and Synthesis of Human Skills; G. Wei and J. S. Dai: The Overconstrained Mechanisms with Radially Reciprocating Motion; A. D. Perkins and K. J. Waldron: Control of Bipedal Turning While Running; M. Carricato and J.-P. Merlet: Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots; Q. Jiang and V. Kumar: The Inverse Kinematics of 3-D Towing; O. Bohigas, L. Ros and M. Manubens: A Complete Method for Workspace Boundary Determination; Chapter 6: J. Babi?, E. Oztop and J. Lenar?i? : Inverse Kinematics of Humanoid-Robot Reaching Through Human Visuo-Motor Learning; J.

O autorze

Jadran Lenarcic has been Professor at the Faculty of Electrical Engineering, University of Ljubljana, Slovenia, since 1988. He is Director of the J. Stefan Institute of Automatics, Biocybernetics and Robotics since 2005. He is a member of the executive committee of the International Federation for the Theory of Machines and Mechanisms, member of the Board of the European Robotics network, and memebr of the Executive Board of the European Association of Research and Technology Organisations. He is regular member of the Slovenian Academy of Engineering Science.

Blurb

This book is a collection of 58 peer reviewed papers, which should be of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. The papers consider 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.

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