Advances in Robot Kinematics: Analysis and Design

This book presents the most recent research advances in the theory, design, control and application of robot systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic i...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autor Corporativo: SpringerLink (Online service)
Otros Autores: Lenarčič, Jadran (Editor ), Wenger, Philippe (Editor )
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Dordrecht : Springer Netherlands : Imprint: Springer, 2008.
Edición:1st ed. 2008.
Temas:
Control engineering.
Robotics.
Automation.
Mechanics, Applied.
Engineering design.
Industrial engineering.
Production engineering.
Control, Robotics, Automation.
Engineering Mechanics.
Engineering Design.
Industrial and Production Engineering.
Acceso en línea:Texto Completo
Tabla de Contenidos:
  • Singularity Analysis of Parallel Manipulators
  • A New Assessment of Singularities of Parallel Kinematic Chains
  • Singularity Analysis through Static Analysis
  • Constraint Singularities and the Structural Parameters of Parallel Robots
  • Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator
  • Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility
  • SinguLab - A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann-Cayley Algebra
  • Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann-Cayley Algebra
  • Design of Robots and Mechanisms
  • On the Design of Fully Constrained Parallel Cable-Driven Robots
  • Synthesis of Part Orienting Devices for Spatial Assembly Tasks
  • Minimum Energy Manipulator Design
  • Synthesis and Analysis of a Constrained Spherical Parallel Manipulator
  • A Nonholonomic 3-DOF Parallel Robot
  • 4-DOF Parallel Architecture for Laparoscopic Surgery
  • Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control
  • Methods in Kinematics
  • Extended Jacobian Inverse Kinematics and Approximation of Distributions
  • A Screw Syzygy with Applications to Robot Singularity Computation
  • Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators
  • Robots Based on Assur Group A (3.5)
  • Kinematics of Free-Floating Systems through Optimal Control Theory
  • Genericity Conditions for Serial Manipulators
  • Alternative Forms for Displacement Screws and Their Pitches
  • Motion Planning and Mobility
  • Time-Invariant Strategies in Coordination of Human Reaching
  • Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms
  • Optimization of a Test Trajectory for SCARA Systems
  • Singularity Free Path Planning for Parallel Robots
  • A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators
  • Trajectory Planning of Parallel Manipulators for Global Performance Optimization
  • Human Motion Reconstruction by Direct Control of Marker Trajectories
  • Performance and Properties of Mechanisms
  • New Self-Motions of Parallel Manipulators
  • Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions
  • A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator
  • Transitions between Multiple Solutions of the Direct Kinematic Problem
  • Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
  • Results on Planar Parallel Manipulators with Cylindrical Singularity Surface
  • Stiffness Matrix of Compliant Parallel Mechanisms
  • Measure and Calibration
  • A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors
  • Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field
  • A Novel Point of View to Define the Distance between Two Rigid-Body Poses
  • Parallel Robot Calibration by Working Mode Change
  • Augmented Model of the 3-PRS Manipulator for Kinematic Calibration
  • The Calibration of a Parallel Manipulator with Binary Actuation
  • Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius
  • Kinematic Analysis and Workspace
  • A Geometrical Characterization of Workspace Singularities in 3R Manipulators
  • Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs
  • Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points
  • On the Delassus Parallelogram
  • Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications
  • Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery.

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