Computational Kinematics ’95

Proceedings of the Second Workshop on Computational Kinematics, held in Sophia Antipolis, France, September 4–6, 1995

  • Jean-Pierre Merlet
  • Bahram Ravani
Conference proceedings

Part of the Solid Mechanics and Its Applications book series (SMIA, volume 40)

Table of contents

  1. Front Matter
    Pages i-x
  2. Kinematics Algorithms

    1. D. Hong, K. J. Mueller, S. A. Velinsky
      Pages 19-30
    2. B. Mourrain, N. Stolfi
      Pages 41-50
    3. J. Nielsen, B. Roth
      Pages 51-62
    4. Fabrice Rouillier
      Pages 73-82
    5. C. M. Hoffmann, P. J. Vermeer
      Pages 83-92
    6. K. Wohlhart
      Pages 93-102
  3. Kinematics of Mechanisms

  4. Singularities

  5. Workspace

  6. Parallel Manipulators

  7. Motion and Grasp Planning

About these proceedings


The aim of this book is to provide an account of the state of the art in Com­ putational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the nu­ merical type, but also of symbolic as well as geometric nature. Research in kinematics over the last decade has been remarkably ori­ ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo­ metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.


Motor algorithms design kinematics kinetics modeling robot robotics simulation

Editors and affiliations

  • Jean-Pierre Merlet
    • 1
  • Bahram Ravani
    • 2
  1. 1.Institut National de Recherche en Informatique et en AutomatiqueSophia AntipolisFrance
  2. 2.Department of Mechanical EngineeringUniversity of CaliforniaDavisUSA

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media Dordrecht 1995
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-94-010-4147-8
  • Online ISBN 978-94-011-0333-6
  • Series Print ISSN 0925-0042
  • Buy this book on publisher's site