Computational Kinematics

Proceedings of the 5th International Workshop on Computational Kinematics

  • Andrés Kecskeméthy
  • Andreas Müller

Table of contents

  1. Front Matter
  2. Cable-Driven Parallel Manipulators

  3. Parallel Manipulators (1)

    1. Monica Urizar, Victor Petuya, Oscar Altuzarra, Alfonso Hernandez
      Pages 35-42
  4. Parallel Manipulators (2)

    1. Nicolas Binaud, Stéphane Caro, Philippe Wenger
      Pages 77-84
    2. Ernesto Rodriguez-Leal, Jian S. Dai, Gordon R. Pennock
      Pages 85-92
    3. V. A. Glazunov, S. Briot, V. Arakelian, Minh Thanh Nguyen
      Pages 93-100
  5. Motion Planning

    1. Hans-Peter Schröcker, Bert Jüttler
      Pages 101-108
    2. Alon Wolf, Merav Senesh
      Pages 109-116
    3. Chintien Huang, Bingrong Huang
      Pages 117-124
    4. Krzysztof Tchoń, Janusz Jakubiak, Łukasz Małek
      Pages 125-132
  6. Numerical Methods

  7. Geometrical Methods

  8. Synthesis (1)

    1. Chung-Ching Lee, Jacques M. Hervé
      Pages 201-208
    2. Mohan Jagannath, Sandipan Bandyopadhyay
      Pages 209-216
  9. Synthesis (2)

  10. Biomechanics

    1. D. Pisla, N. Plitea, B. Gherman, A. Pisla, C. Vaida
      Pages 273-282
    2. G. Carbone, R. Nakadate, J. Solis, M. Ceccarelli, A. Takanishi, E. Minagawa et al.
      Pages 283-290
  11. Design Issues

    1. Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti Castelli, Gabriele Vassura
      Pages 299-306
    2. Thomas Villgrattner, Thomas Thümmel, Heinz Ulbrich
      Pages 307-314
    3. V. van der Wijk, J. L. Herder
      Pages 315-322
    4. Pavel Kukula, Michael Valasek
      Pages 323-330
  12. Singularities

  13. Gears

  14. Back Matter

About these proceedings


Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

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


design electrical engineering kinematics modeling numerical methods robot robotics simulation

Editors and affiliations

  • Andrés Kecskeméthy
    • 1
  • Andreas Müller
    • 2
  1. 1.Lehrstuhl für Mechanik und RobotikUniversität Duisburg-EssenDuisburgGermany
  2. 2.Chair of Mechanics and RoboticsUniversity Duisburg-EssenDuisburgGermany

Bibliographic information

  • DOI
  • Copyright Information Springer Berlin Heidelberg 2009
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-01946-3
  • Online ISBN 978-3-642-01947-0
  • Buy this book on publisher's site