Recent Advances in Robot Kinematics

  • Jadran Lenarčič
  • Vincenzo Parenti-Castelli

Table of contents

  1. Front Matter
    Pages i-v
  2. Plenary

    1. Front Matter
      Pages 5-5
    2. J. Angeles, F. Bulca, N. Areson, M. Areson
      Pages 17-26
  3. Control and optimisation

  4. Performance

    1. Front Matter
      Pages 87-87
    2. Po-Hua Yang, Kenneth J. Waldron, David E. Orin
      Pages 89-98
    3. F. C. Park, J. W. Kim
      Pages 99-108
    4. Milosš Žefran, Vijay Kumar
      Pages 119-128
    5. D. Marsh, R. Hines, J. Duffy
      Pages 129-138
  5. Workspace and trajectory analysis

  6. Modelling and computation

  7. Analysis and simulation

    1. Front Matter
      Pages 275-275
    2. A. L. Rankin, C. D. Crane, J. Duffy
      Pages 277-286
    3. J. Zupančič, A. Kralj
      Pages 307-316
  8. Performance of parallel mechanisms

    1. Front Matter
      Pages 337-337
    2. A. Karger, M. Husty
      Pages 339-348
    3. A. P. Murray, F. Pierrot, P. Dauchez, J. M. McCarthy
      Pages 349-358
    4. K. Wohlhart
      Pages 359-368
    5. Boris Mayer ST-Onge, Clément M. Gosselin
      Pages 389-398
  9. Analysis of parallel mechanisms

    1. Front Matter
      Pages 399-399

About this book


The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz­ Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.


calculus kinematics modeling optimization robot simulation

Editors and affiliations

  • Jadran Lenarčič
    • 1
  • Vincenzo Parenti-Castelli
    • 2
  1. 1.J. Stefan InstituteUniversity of LjubljanaSlovenia
  2. 2.Department of Mechanical EngineeringUniversity of BolognaItaly

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 1996
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-94-010-7269-4
  • Online ISBN 978-94-009-1718-7
  • Buy this book on publisher's site