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Advances in Robot Kinematics

Mechanisms and Motion

  • Conference proceedings
  • © 2006

Overview

Editors:
  1. Jadran Lennarčič

    1. Department of Automatics, Jožef Stefan Institute, Slovenia

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    You can also search for this editor in PubMed   Google Scholar

  2. B. Roth

    1. Stanford University, USA

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  • State of the art in robotics

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Table of contents (53 papers)

  1. Front Matter

    Pages i-xi
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  2. Methods in Kinematics

    1. Front Matter

      Pages 1-1
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    2. Wire-based tracking using mutual information

      • J. Andrade-Cetto, F. Thomas
      Pages 3-14

    3. The control number as index for Stewart Gough platforms

      • G. Nawratil
      Pages 15-22

    4. Determining the 3×3 rotation matrices that satisfy three linear equations in the direction cosines

      • C. Innocenti, D. Paganelli
      Pages 23-32

    5. A polar decomposition based displacement metric for a finite region of SE(n)

      • P. M. Larochelle
      Pages 33-40

    6. On the regularity of the inverse Jacobian of parallel robots

      • J.-P. Merlet, P. Donelan
      Pages 41-48

    7. Parallel robots that change their group of motion

      • P. Fanghella, C. Galletti, E. Giannotti
      Pages 49-56

    8. Approximating planar, morphing curves with rigid-body linkages

      • A. P. Murray, B. M. Korte, J. P. Schmiedeler
      Pages 57-64

    9. On the velocity analysis of non-parallel closed chain mechanisms

      • M. Zoppi, D. Zlatanov, R. Molfino
      Pages 65-72

  3. Properties of Mechanisms

    1. Front Matter

      Pages 74-74
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    2. Kinematics of micro planar parallel robot comprising large joint clearances

      • H. Bamberger, M. Shoham, A. Wolf
      Pages 75-84

    3. Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement

      • H. K. Jung, C. D. Crane III, R. G. Roberts
      Pages 85-94

    4. Large kinematic error propagation in revolute manipulators

      • Y. Wang, G. S. Chirikjian
      Pages 95-102

    5. A framework for the analysis, synthesis and optimization of parallel kinematic machines

      • A. Pott, M. Hiller
      Pages 103-112

    6. Searching for undiscovered planar straight-line linkages

      • Z. Luo, J. S. Dai
      Pages 113-122

    7. Type synthesis of three-DOF up-equivalent parallel manipulators using a virtual-chain approach

      • X. Kong, C. M. Gosselin
      Pages 123-132

    8. The multiple virtual end-effectors approach for human-robot interaction

      • A. De Santis, P. Pierro, B. Siciliano
      Pages 133-144

  4. Humanoids and Biomedicine

    1. Front Matter

      Pages 146-146
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    2. Balance and control of human inspired jumping robot

      • J. Babič, D. Omrčen, J. Lenarčič
      Pages 147-156
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Keywords

About this book

This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the theory and practice of robot kinematics and treat the motion of robots, in particular robot manipulators, without regard to how this motion is produced or c- trolled. Each book of Advances in Robot Kinematics reports the most recent research projects and presents many new discoveries. The issues addressed in this book are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, d- terity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quat- nion algebra, screw algebra, and linear algebra. These methods are - plied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers and students, in ?elds of engineering and mathematics related to robot theory, design, control and application. All the contributions had been rigorously reviewed by independent reviewers and ?fty three articles had been recommended for publi- tion. They were introduced in seven chapters. The authors discussed theirresultsatthetenthinternationalsymposiumonAdvancesinRobot Kinematics which was held in June 2006 in Ljubljana, Slovenia. The symposium was organized by Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science.

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

Editors and Affiliations

  • Department of Automatics, Jožef Stefan Institute, Slovenia

    Jadran Lennarčič

  • Stanford University, USA

    B. Roth

Bibliographic Information

  • Book Title: Advances in Robot Kinematics

  • Book Subtitle: Mechanisms and Motion

  • Editors: Jadran Lennarčič, B. Roth

  • DOI: https://doi.org/10.1007/978-1-4020-4941-5

  • Publisher: Springer Dordrecht

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer Science+Business Media B.V. 2006

  • Hardcover ISBN: 978-1-4020-4940-8Published: 22 June 2006

  • Softcover ISBN: 978-90-481-7234-4Published: 09 April 2011

  • eBook ISBN: 978-1-4020-4941-5Published: 10 October 2006

  • Edition Number: 1

  • Number of Pages: XI, 498

  • Topics: Control, Robotics, Mechatronics, Theoretical and Applied Mechanics, Engineering Design

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