Advances in Robot Kinematics

  • J. Lenarčič
  • M. M. Stanišić

Table of contents

  1. Front Matter
    Pages i-3
  2. Methods in Kinematics

  3. Kinematic Synthesis

  4. Force Analysis

    1. Front Matter
      Pages 127-127
    2. J. P. Schmiedeler, K. J. Waldron
      Pages 129-136
    3. S. R. Lucas, C. R. Tischler, A. E. Samuel
      Pages 147-154
    4. K. Harada, M. Kaneko, T. Tsuji
      Pages 155-164
    5. G. Duchemin, E. Dombre, F. Pierrot, E. Degoulange
      Pages 165-174
    6. F. Caccavale, G. Ruggiero, B. Siciliano, L. Villani
      Pages 187-196
  5. Kinematic Redundancy

    1. Front Matter
      Pages 197-197
    2. R. Schaufler, C. H. Fedrowitz, R. Kammüller
      Pages 199-208
    3. S. B. Nokleby, R. P. Podhorodeski
      Pages 217-226
    4. M. W. Hannan, I. D. Walker
      Pages 227-238
  6. Parallel Mechanisms and Workspace Analysis

  7. Analysis and Application of Parallel Mechanisms

    1. Front Matter
      Pages 323-323
    2. J. Lenarčič, M. M. Stanišić, V. Parenti-Castelli
      Pages 325-332
    3. V. Parenti-Castelli, R. Di Gregorio
      Pages 333-344
    4. O. Röschel
      Pages 375-382
  8. Parallel Mechanisms and Screw Algebra

    1. Front Matter
      Pages 383-383
    2. M. Karouia, J. M. Hervé
      Pages 395-402

About this book


This book presents the most recent research advances in the theory, design, control and application of robotic 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 results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. All articles in the book were reported at the seventh international symposium on Advances in Robot Kinematics that was organised in June 2000 in the beautiful ancient Mediterranean town of Piran in Slovenia. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996), and Salzburg (1998).


automation biomechanics calculus design kinematics mechanics robot

Editors and affiliations

  • J. Lenarčič
    • 1
  • M. M. Stanišić
    • 2
  1. 1.Department of Automatics, Biocybernetics and RoboticsJ. Stefan InstituteLjubljanaSlovenia
  2. 2.Aerospace and Mechanical EngineeringUniversity of Notre DameNotre DameUSA

Bibliographic information