Latest Advances in Robot Kinematics
(Sprache: Englisch)
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both...
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This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers 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.
Inhaltsverzeichnis zu „Latest Advances in Robot Kinematics “
Preface The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles
On the Twist Recovery Methodologies After Failure; Leila Notash
A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy
Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil
Asymptotic Singularities of Planar Parallel 3-RPR Manipulators; Michel Coste
Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio
Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland
Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho'n and Mariusz Janiak
Self-Calibration of Redundantly Actuated PKM Based on MotionReversal Points; Andreas Muller and Maurizio Ruggiu
Managing the Redundancy of N-1 Wire-Driven Parallel Robots; J-P. Merlet
Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano
On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé
Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa
Motion Planning for Parallel Robots with Non-holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak, Patrick Grosch and Federico Thomas
Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai
Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schütz, R.J. Ellwood, A. Raatz and J. Hesselbach
Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision
... mehr
Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf
Robotic Fish Kinectics Design Based on a Fuzzy Control; Pei-Jun Lee and Wen-June Wang
Persistent Screw Systems of Dimension Four; Marco Carricato
Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough-Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas
Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra
Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson
Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara
Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert Jüttler
Influence of Pulley Kinematics on Cable-Driven Parallel Robots; Andreas Pott
Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert Jüttler and Tino Schulz
Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai
Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker
Bond Theory and Closed 5R Linkages; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker
Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier
Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros
Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu
Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder
Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott
Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez
Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle
Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib
Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder
Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes
Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu
Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea
Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger
Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma
Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger
Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter
The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari
A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff
Velocity Level Kinematic Analysis of Serial nA-Chains; James D. Robinson and M. John D. Hayes
Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and Sandipan Bandyopadhyay
Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar
Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro
Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky
Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park
Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle
On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli
Author Index
Subject Index
Robotic Fish Kinectics Design Based on a Fuzzy Control; Pei-Jun Lee and Wen-June Wang
Persistent Screw Systems of Dimension Four; Marco Carricato
Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough-Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas
Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra
Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson
Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara
Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert Jüttler
Influence of Pulley Kinematics on Cable-Driven Parallel Robots; Andreas Pott
Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert Jüttler and Tino Schulz
Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai
Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker
Bond Theory and Closed 5R Linkages; Gábor Hegedüs, Josef Schicho and Hans-Peter Schröcker
Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier
Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros
Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu
Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder
Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott
Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez
Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle
Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig
Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib
Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder
Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes
Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu
Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea
Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger
Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma
Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger
Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter
The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari
A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff
Velocity Level Kinematic Analysis of Serial nA-Chains; James D. Robinson and M. John D. Hayes
Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and Sandipan Bandyopadhyay
Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar
Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro
Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky
Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park
Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle
On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli
Author Index
Subject Index
... weniger
Bibliographische Angaben
- 2012, 472 Seiten, Masse: 16 x 24,1 cm, Gebunden, Englisch
- Herausgegeben: Manfred Husty, Jadran Lenarcic
- Verlag: Springer Netherlands
- ISBN-10: 9400746199
- ISBN-13: 9789400746190
- Erscheinungsdatum: 20.05.2012
Sprache:
Englisch
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