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Advances in Robot Kinematics: Analysis and Control

  • Book
  • © 1998

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Editors:
  1. Jadran Lenarčič

    1. Department of Automatics, Biocybernetics and Robotics, J. Stefan Institute, Ljubljana, Slovenia

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  2. Manfred L. Husty

    1. Institute of Mathematics and Applied Geometry, Montan University, Leoben, Austria

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Table of contents (58 chapters)

  1. Front Matter

    Pages i-4
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  2. Plenary

    1. Front Matter

      Pages 5-5
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    2. The Stewart-Gough Platform of General Geometry can have 40 Real Postures

      • P. Dietmaier
      Pages 7-16

    3. Parallel Arrays of Binary Actuators

      • K. J. Waldron, P-H. Yang
      Pages 17-26

  3. Kinematics of Parallel Robots

    1. Front Matter

      Pages 27-27
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    2. A Study on the Kinematics of a Class of Parallel Manipulators

      • B. Siciliano
      Pages 29-38

    3. Determination of the Presence of Singularities in 6D Workspace of a Gough Parallel Manipulator

      • J-P. Merlet
      Pages 39-48

    4. A Translational 3-dof Parallel Manipulator

      • R. Di Gregorio, V. Parenti-Castelli
      Pages 49-58

    5. Inverse Kinematics of a Planar Manipulator with Holonomic Higher Pairs

      • M. J. D. Hayes, P. J. Zsombor-Murray
      Pages 59-68

    6. N-Position Synthesis of Parallel Planar RPR Platforms

      • A. P. Murray, F. Pierrot
      Pages 69-78

    7. Dual Expansion of an Optimal in-Parallel Spherical Platform Device into a Spatial One

      • M. L. Keler
      Pages 79-86

    8. Kinematics and Force Analysis of a 6 D.O.F. Parallel Mechanism with Elastic Joints

      • S. Wang, H. Hikita, N. Hanajima, M. Yamashita, Y. Zhao, Z. Huang
      Pages 87-96

    9. Inverse Kinematics for an Underconstrained Cable Suspension Manipulator

      • T. Maier, C. Woernle
      Pages 97-104

    10. Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms

      • R. Verhoeven, M. Hiller, S. Tadokoro
      Pages 105-114
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Keywords

About this book

The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.

Editors and Affiliations

  • Department of Automatics, Biocybernetics and Robotics, J. Stefan Institute, Ljubljana, Slovenia

    Jadran Lenarčič

  • Institute of Mathematics and Applied Geometry, Montan University, Leoben, Austria

    Manfred L. Husty

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