Book 2014

Advances in Robot Kinematics

Editors:

ISBN: 978-3-319-06697-4 (Print) 978-3-319-06698-1 (Online)

Table of contents (56 chapters)

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  1. Front Matter

    Pages i-xii

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    Chapter

    Pages 1-9

    Computing Cusps of 3R Robots Using Distance Geometry

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    Chapter

    Pages 11-19

    Kinematic Mapping of SE(4) and the Hypersphere Condition

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    Chapter

    Pages 21-29

    Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator

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    Chapter

    Pages 31-39

    The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design

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    Chapter

    Pages 41-49

    Impact of Perturbation on Wire Tension Vector

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    Chapter

    Pages 51-58

    A Deployable Parallel Wrist with Simple Kinematics

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    Chapter

    Pages 59-67

    Geometric Derivation of 6R Linkages with Circular Translation

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    Chapter

    Pages 69-76

    Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation

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    Chapter

    Pages 77-85

    Some Remarks on the RRR Linkage

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    Chapter

    Pages 87-94

    Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator

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    Chapter

    Pages 95-103

    Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach

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    Chapter

    Pages 105-112

    Nonsingular Change of Assembly Mode Without any Cusp

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    Chapter

    Pages 113-121

    The Influence of Discrete-Time Control on the Kinematico-Static Behavior of Cable-Driven Parallel Robot with Elastic Cables

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    Chapter

    Pages 123-130

    Derivatives of Screw Systems in Body-Fixed Representation

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    Chapter

    Pages 131-138

    Sharp Linkages

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    Chapter

    Pages 139-147

    Solvable Multi-Fingered Hands for Exact Kinematic Synthesis

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    Chapter

    Pages 149-159

    Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot

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    Chapter

    Pages 161-169

    Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms

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    Chapter

    Pages 171-180

    Human Motion Kinematics Assessment Using Wearable Sensors

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    Chapter

    Pages 181-191

    Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and Its Homogenization

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