On Advances in Robot Kinematics

  • J. Lenarčič
  • C. Galletti

Table of contents

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

    1. Front Matter
      Pages 1-1
    2. Rocco Vertechy, Vincenzo Parenti-Castelli
      Pages 3-12
    3. Pierre M. Larochelle, Andrew P. Murray, Jorge Angeles
      Pages 13-22
    4. Pietro Fanghella, Carlo Galletti
      Pages 23-30
    5. F. Thomas, J. M. Porta, L. Ros
      Pages 31-40
  3. Properties of Mechanisms

    1. Front Matter
      Pages 77-77
    2. Matteo Zoppi, Dimiter Zlatanov, Clément M. Gosselin
      Pages 105-112
    3. Hagay Bamberger, Moshe Shoham
      Pages 113-122
    4. J. M. Porta, L. Ros, F. Thomas
      Pages 123-132
    5. José M. Rico, Bahram Ravani
      Pages 133-142
  4. Humanoids and Biomedical Applications

    1. Front Matter
      Pages 143-143
    2. O. Khatib, J. Warren, V. De Sapio, L. Sentis
      Pages 145-154

About these proceedings


In the last decade, we have seen an extraordinary progress in the the­ ory and applications of robot kinematics. This has been motivated espe­ cially by the development of complex parallel and humanoid robots. The present book reports 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, automa­ tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re­ dundancy, force control, dexterity, inverse and forward kinematics, kine­ matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge­ bra. 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. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in­ dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.

Indexed in Conference Proceedings Citation Index- Science (CPCI-S)


Analysis automation design fuzzy kinematics microelectromechanical system (MEMS) mobile robot optimization parallel robot robot rotation

Editors and affiliations

  • J. Lenarčič
    • 1
  • C. Galletti
    • 2
  1. 1.Jožef Stefan InstituteLjubljanaSlovenia
  2. 2.University of GenoaGenoaItaly

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4020-2249-4
  • Copyright Information Springer Science+Business Media B.V. 2004
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-90-481-6622-0
  • Online ISBN 978-1-4020-2249-4
  • About this book