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Advances in Robot Kinematics 2018

  • Conference proceedings
  • © 2019

Overview

Editors:
  1. Jadran Lenarcic

    1. J. Stefan Institute, Ljubljana, Slovenia

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    You can also search for this editor in PubMed   Google Scholar

  2. Vincenzo Parenti-Castelli

    1. Department of Industrial Engineering, University of Bologna, Bologna, Italy

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    You can also search for this editor in PubMed   Google Scholar

  • Includes the most recent results in robot kinematics
  • With contributions from the most prominent authors in the field
  • Covers a wide spectrum of areas with the focus on robot kinematics - unique in the world

Part of the book series: Springer Proceedings in Advanced Robotics (SPAR, volume 8)

Included in the following conference series:

Conference proceedings info: ARK 2018.

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Table of contents (53 papers)

  1. Front Matter

    Pages i-xi
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  2. Theoretical Kinematics

    1. Front Matter

      Pages 1-1
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    2. Kinematic Interpretation of the Study Quadric’s Ambient Space

      • Georg Nawratil
      Pages 3-11

    3. Input-Output Equation for Planar Four-Bar Linkages

      • M. John D. Hayes, Manfred L. Husty, Martin Pfurner
      Pages 12-19

    4. Principal Kinematic Inequalities

      • Gregory S. Chirikjian
      Pages 20-27

    5. Displacement Varieties for Some PUP Linkages

      • Jonathan M. Selig
      Pages 28-36

  3. Computational Kinematics

    1. Front Matter

      Pages 37-37
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    2. Accurate Computation of Quaternions from Rotation Matrices

      • Soheil Sarabandi, Federico Thomas
      Pages 39-46

    3. Redundancy Parametrization in Globally-Optimal Inverse Kinematics

      • Enrico Ferrentino, Pasquale Chiacchio
      Pages 47-55

    4. Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations

      • Stefan Schulz, Arthur Seibel, Josef Schlattmann
      Pages 56-64

    5. Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains

      • Bertold Bongardt
      Pages 65-73

    6. Analytical Determination of a Sphere Inside Which the Stewart Platform Translates Without Suffering Any Leg Interference

      • Anirban Nag, Sandipan Bandyopadhyay
      Pages 74-82

    7. Higher-Order Relative Kinematics of Rigid Body Motions: A Dual Lie Algebra Approach

      • Daniel Condurache
      Pages 83-91

    8. An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation

      • Kristopher Wehage, Bahram Ravani
      Pages 92-99

    9. Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots

      • Quentin Peyron, Kanty Rabenorosoa, Nicolas Andreff, Pierre Renaud
      Pages 100-107

    10. Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF

      • Xinghai Liang, Yukio Takeda
      Pages 108-115

    11. Optimal Object Placement Using a Virtual Axis

      • Martin Weiß
      Pages 116-123

    12. The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra

      • Josep M. Porta, Federico Thomas
      Pages 124-132

    13. Six-Bar Linkage Design System with a Parallelized Polynomial Homotopy Solver

      • Jeffrey Glabe, J. Michael McCarthy
      Pages 133-140

    14. Algebraic Analysis of a 3-RUU Parallel Manipulator

      • Thomas Stigger, Abhilash Nayak, Stéphane Caro, Philippe Wenger, Martin Pfurner, Manfred L. Husty
      Pages 141-149
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  1. Advances in Robot Kinematics 2018

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About this book

This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy.
ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.
The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.

Editors and Affiliations

  • J. Stefan Institute, Ljubljana, Slovenia

    Jadran Lenarcic

  • Department of Industrial Engineering, University of Bologna, Bologna, Italy

    Vincenzo Parenti-Castelli

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