Development of Computational Kinematics Within the IFToMM Community

Chapter
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 1)

Abstract

With the advent of symbolic computation and the development of new methods and algorithms in numerical mathematics the classical field of kinematics has undergone a renaissance. But it was not only the new methods that caused this renaissance. Where classical kinematics studied mainly mechanisms and one-parameter motions, the emergence of robotics changed the focus of kinematics to multi-parameter motions and new topics such as workspace computations, direct and inverse kinematics and singularities of sophisticated robots and machines. Therefore it is not surprising that researchers of the IFToMM community entered the new field of robot kinematics. Consequentially the TC Computational Kinematics was established within IFToMM. In this paper we introduce the basic topics and the research methods that define Computational Kinematics and report the short history, aims and activities of the IFToMM TC Computational Kinematics.

Keywords

Humanoid Robot Sequential Quadratic Programming Inverse Kinematic Technical Committee Kinematic Chain 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgement

The authors thank Bahram Ravani for his input on the early history of the TC.

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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.Department of Mechanics and Computer ProgrammingTechnical University of Cluj-NapocaCluj-NapocaRomania
  2. 2.Institute of Basic Science in EngineeringUniversity Innsbruck, Unit Geometry and CADInnsbruckAustria

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