Advances in Robot Kinematics

Theory and Applications

  • J. Lenarčič
  • F. Thomas

Table of contents

  1. Front Matter
    Pages i-xiii
  2. Performance Evaluation

    1. Front Matter
      Pages 1-1
    2. R. Di Gregorio, V. Parenti-Castelli
      Pages 11-20
    3. Han Sung Kim, Lung-Wen Tsai
      Pages 21-28
    4. K. Parsa, J. Angeles, A. K. Misra
      Pages 39-48
    5. Narcís Gascons, Haijun Su, J. M. McCarthy
      Pages 49-56
    6. E. Staffetti, H. Bruyninckx, J. De Schutter
      Pages 57-66
    7. Francisco Valero, Vicente Mata, Francisco Rubio, Josep-Lluís Suñer
      Pages 67-76
  3. Design and Control of Special-Type Mechanisms

    1. Front Matter
      Pages 77-77
    2. Jadran Lenarčič, Michael Stanišić, Eric Schearer
      Pages 79-88
    3. O. Khatib, O. Brock, K.-S. Chang, D. Ruspini, L. Sentis, F. Conti et al.
      Pages 89-98
    4. Cornel Brisan, Manfred Hiller
      Pages 99-106
    5. Federico Thomas, Erika Ottaviano, Lluís Ros, Marco Ceccarelli
      Pages 107-116
    6. Richard Verhoeven, Manfred Hiller
      Pages 117-124
    7. T. Heyden, T. Maier, C. Woernle
      Pages 125-134
    8. Kazem Kazerounian
      Pages 135-144
  4. Redundancy, Singularity, and Self-Motion

    1. Front Matter
      Pages 145-145
    2. Manfred Husty, Sonja Mielczarek, Manfred Hiller
      Pages 147-154
    3. A. Wolf, M. Shoham, F. C. Park
      Pages 165-174
    4. Dimiter Zlatanov, Ilian A. Bonev, Clément M. Gosselin
      Pages 183-192
    5. Daniel Martins, Raul Guenther
      Pages 193-202
    6. J. Alfonso Pámanes G., Philippe Wenger, José Luis Zapata D.
      Pages 203-212
    7. Günter Schreiber, Gerd Hirzinger
      Pages 213-222
  5. Methods in Kinematics

    1. Front Matter
      Pages 223-223
    2. M. Hofer, H. Pottmann, B. Ravani
      Pages 235-244
    3. José M. Rico, Bahram Ravani
      Pages 245-254
    4. J. M. Porta, L. Ros, F. Thomas, C. Torras
      Pages 255-264
    5. Nicolas Andreff, Bernard Espiau
      Pages 265-274
    6. I. A. Parkin, J. E. Baker
      Pages 275-280
    7. W. Korb, W. Schlegel, J. P. Schlöder, H. G. Bock
      Pages 281-290
    8. I. Zabalza, J. Ros, J. J. Gil, J. M. Pintor, J. M. Jiménez
      Pages 291-300
  6. Kinematic Design

    1. Front Matter
      Pages 301-301
    2. Andreas Wingert, Matthew D. Lichter, Steven Dubowsky
      Pages 303-310
    3. K. Al-Widyan, J. Angeles
      Pages 311-318
    4. Félix Majou, Philippe Wenger, Damien Chablat
      Pages 319-328
    5. Jürgen Hesselbach, Manfred B. Helm, Sven Soetebier
      Pages 347-356
    6. Luc Baron, Xiaoyu Wang, Guy Cloutier
      Pages 357-366
  7. Kinematic Analysis

    1. Front Matter
      Pages 367-367
    2. P. J. Zsombor-Murray, J. Cervantes-Sanchez
      Pages 379-386
    3. Sylvain Guégan, Wisama Khalil
      Pages 387-396
    4. D. Chablat, Ph. Wenger, J. Merlet
      Pages 397-406

About this book


This is the fifth book of the Kluwer's series Advances in Robot Kine­ matics. The 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, manufactur­ ing, 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 alge­ bra, 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 mathe­ matics related to robot theory, design, control and application. Each contribution in this book had been rigorously reviewed by two or three independent reviewers and 53 articles had been recommended for publication. We are happy to observe that Advances in Robot Kine­ matics has always attracted the most outstanding authors and has de­ veloped a remarkable scientific community in the area. Many important and original scientific results were for the first time reported and dis­ cussed in these books. All articles in this book were also reported at the eight international symposium on Advances in Robot Kinematics that was organised in June 2002 in Caldes de Malavella in Spain.


actuator algorithms anthropomorph automation design kinematics motion planning multibody system parallel robot robot robotics rotation simulation

Editors and affiliations

  • J. Lenarčič
    • 1
  • F. Thomas
    • 2
  1. 1.Institute Jožef StefanLjubljanaSlovenia
  2. 2.Institute of Industrial Robotics (IRI)BarcelonaSpain

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 2002
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-90-481-6054-9
  • Online ISBN 978-94-017-0657-5
  • Buy this book on publisher's site