Overview
- Editors:
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J. Lenarčič
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Institute Jožef Stefan, Ljubljana, Slovenia
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F. Thomas
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Institute of Industrial Robotics (IRI), Barcelona, Spain
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Table of contents (53 chapters)
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Redundancy, Singularity, and Self-Motion
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- A. Wolf, M. Shoham, F. C. Park
Pages 165-174
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- Dimiter Zlatanov, Ilian A. Bonev, Clément M. Gosselin
Pages 183-192
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- Daniel Martins, Raul Guenther
Pages 193-202
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- J. Alfonso Pámanes G., Philippe Wenger, José Luis Zapata D.
Pages 203-212
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- Günter Schreiber, Gerd Hirzinger
Pages 213-222
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Methods in Kinematics
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Front Matter
Pages 223-223
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- P. Fanghella, C. Galletti
Pages 225-234
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- M. Hofer, H. Pottmann, B. Ravani
Pages 235-244
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- José M. Rico, Bahram Ravani
Pages 245-254
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- J. M. Porta, L. Ros, F. Thomas, C. Torras
Pages 255-264
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- Nicolas Andreff, Bernard Espiau
Pages 265-274
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- I. A. Parkin, J. E. Baker
Pages 275-280
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- W. Korb, W. Schlegel, J. P. Schlöder, H. G. Bock
Pages 281-290
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- I. Zabalza, J. Ros, J. J. Gil, J. M. Pintor, J. M. Jiménez
Pages 291-300
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Kinematic Design
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Front Matter
Pages 301-301
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- Andreas Wingert, Matthew D. Lichter, Steven Dubowsky
Pages 303-310
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- Félix Majou, Philippe Wenger, Damien Chablat
Pages 319-328
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.
Editors and Affiliations
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Institute Jožef Stefan, Ljubljana, Slovenia
J. Lenarčič
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Institute of Industrial Robotics (IRI), Barcelona, Spain
F. Thomas