Latest Advances in Robot Kinematics

1. Front Matter

   Pages I-XI

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2. The Dual Generalized Inverses and Their Applications in Kinematic Synthesis

   • Jorge Angeles

   Pages 1-10

3. On the Twist Recovery Methodologies After Failure

   • Leila Notash

   Pages 11-18

4. A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms

   • Shuxian Xia, Huafeng Ding, Andres Kecskemethy

   Pages 19-26

5. Self-Motions of Planar Projective Stewart Gough Platforms

   • G. Nawratil

   Pages 27-34

6. Asymptotic Singularities of Planar Parallel 3-RPR Manipulators

   • Michel Coste

   Pages 35-42

7. Classification of the Singularity Loci of m-n Fully-Parallel Manipulators

   • Raffaele Di Gregorio

   Pages 43-50

8. Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains

   • Alexandr Klimchik, Anatol Pashkevich, Damien Chablat, Geir Hovland

   Pages 51-58

9. Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm

   • Janusz Jakubiak, Krzysztof Tchoń, Mariusz Janiak

   Pages 59-66

10. Robotic Fish Kinectics Design Based on a Fuzzy Control

    • Pei-Jun Lee, Wen-June Wang

    Pages 67-74

11. Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points

    • Andreas Müller, Maurizio Ruggiu

    Pages 75-82

12. Trajectory Planning for Systems with Homotopy Class Constraints

    • Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar

    Pages 83-90

13. 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, B. Siciliano

    Pages 91-98

14. On the Vertical Darboux Motion

    • Chung-Ching Lee, Jacques M. Hervé

    Pages 99-106

15. Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting

    • Rafael E. Vasquez, Carl D. Crane III, Julio C. Correa

    Pages 107-114

16. Motion Planning for Parallel Robots with Non-holonomic Joints

    • Krzysztof Tchoń, Janusz Jakubiak, Patrick Grosch, Federico Thomas

    Pages 115-122

17. Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs)

    • Guowu Wei, Jian S. Dai

    Pages 123-130

18. Type Synthesis of Binary Actuated Parallel Mechanisms

    • D. Schütz, R. J. Ellwood, A. Raatz, J. Hesselbach

    Pages 131-138

19. Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System

    • Ouriel Barzilay, Yoram Gutfreund, Alon Wolf

    Pages 139-146

20. Persistent Screw Systems of Dimension Four

    • Marco Carricato

    Pages 147-156

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.

• Advances in Robot Kinematics 2012
• Isotropy
• Multi-arm Robots
• Parallel Robotics
• Redundant Robots
• Robot Control
• Robot Kinematics

• J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

  Jadran Lenarcic

• Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Innsbruck, Austria

  Manfred Husty

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