Advances in Robot Kinematics: Analysis and Design

  • Jadran Lenarčič
  • Philippe Wenger

Table of contents

  1. Front Matter
    Pages i-xi
  2. Singularity Analysis of Parallel Manipulators

  3. Design of Robots and Mechanisms

    1. M. Gouttefarde, S. Krut, O. Company, F. Pierrot, N. Ramdani
      Pages 71-78
    2. A. Rojas Salgado, Y. Ledezma Rubio
      Pages 89-99
    3. Patricia Ben-Horin, Federico Thomas
      Pages 111-118
    4. Mohammad Aamir Khan, Matteo Zoppi, Rezia Molfino
      Pages 119-126
    5. Ch. Grand, P. Martinelli, J. -B. Mouret, S. Doncieux
      Pages 127-134
  4. Methods in Kinematics

About this book


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 in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems.

The book includes 48 independently reviewed papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The papers have been subdivided into the following sections: Singularity analysis of parallel manipulators, Design of robots and mechanisms, Motion planning and mobility, Performance and properties of mechanisms, Measure and calibration, Kinematic analysis and workspace.

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


Hub Lot Paro Transit actuator automation kinematics motion planning parallel robot robot unmanned aerial vehicle

Editors and affiliations

  • Jadran Lenarčič
    • 1
  • Philippe Wenger
    • 2
  1. 1.J. Stefan InstituteLjubljanaSlovenia
  2. 2.IRCCyN InstituteNantesFrance

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 2008
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-1-4020-8599-4
  • Online ISBN 978-1-4020-8600-7
  • About this book