Book 2009

Computational Kinematics

Proceedings of the 5th International Workshop on Computational Kinematics


ISBN: 978-3-642-01946-3 (Print) 978-3-642-01947-0 (Online)

Table of contents (47 chapters)

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  1. Front Matter

    Pages -

  2. Cable-Driven Parallel Manipulators

    1. Chapter

      Pages 1-8

      Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism

    2. Chapter

      Pages 9-16

      Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators

    3. Chapter

      Pages 17-24

      Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device

    4. Chapter

      Pages 25-34

      Closed-form Force Distribution for Parallel Wire Robots

  3. Parallel Manipulators (1)

    1. Chapter

      Pages 35-42

      Computing the Configuration Space for Motion Planning between Assembly Modes

    2. Chapter

      Pages 43-50

      Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

    3. Chapter

      Pages 51-60

      Non-singular assembly mode change in 3-RPR-parallel manipulators

    4. Chapter

      Pages 61-68

      Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot

  4. Parallel Manipulators (2)

    1. Chapter

      Pages 69-76

      Forward displacement analysis of a 3-RPR planar parallel manipulator revisited

    2. Chapter

      Pages 77-84

      Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators

    3. Chapter

      Pages 85-92

      Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs

    4. Chapter

      Pages 93-100


  5. Motion Planning

    1. Chapter

      Pages 101-108

      Motion Interpolation with Bennett Biarcs

    2. Chapter

      Pages 109-116

      Motion Estimation using a Statistical Solid Dynamic Method

    3. Chapter

      Pages 117-124

      Spatial Generalization of the Planar Path Generation Problem

    4. Chapter

      Pages 125-132

      Motion Planning of Nonholonomic Systems with Dynamics

  6. Numerical Methods

    1. Chapter

      Pages 133-140

      Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)

    2. Chapter

      Pages 141-148

      Fast Distance Computation Using Quadratically Supported Surfaces

    3. Chapter

      Pages 149-158

      On the Computation of the Home Posture of the McGill Schönflies-Motion Generator

    4. Chapter

      Pages 159-166

      Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems

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