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On Advances in Robot Kinematics

  • Conference proceedings
  • © 2004

Overview

Editors:
  1. J. Lenarčič

    1. Jožef Stefan Institute, Ljubljana, Slovenia

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  2. C. Galletti

    1. University of Genoa, Genoa, Italy

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Table of contents (51 papers)

  1. Front Matter

    Pages i-xi
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  2. Methods in Kinematics

    1. Front Matter

      Pages 1-1
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    2. A Fast and Accurate Method for the Singular Value Decomposition of 3×3 Matrices

      • Rocco Vertechy, Vincenzo Parenti-Castelli
      Pages 3-12

    3. SVD and PD Based Projection Metrics on SE(n)

      • Pierre M. Larochelle, Andrew P. Murray, Jorge Angeles
      Pages 13-22

    4. Choice of Independent Coordinates in Modular Kinematics

      • Pietro Fanghella, Carlo Galletti
      Pages 23-30

    5. Distance Constraints Solved Geometrically

      • F. Thomas, J. M. Porta, L. Ros
      Pages 31-40

    6. Kinematic Mapping Application to Approximate Type and Dimension Synthesis of Planar Mechanisms

      • M. John D. Hayes, Tim Luu, Xiao-Wen Chang
      Pages 41-48

    7. On the Ruled Surface Generated by a Linear Combination Screw

      • I. A. Parkin, C. Freeman
      Pages 49-56

    8. Lie-Group First-Order Operations in Rigid-Body Kinematics

      • Andrés Kecskeméthy
      Pages 57-66

    9. First-Order Intrinsic Properties of the Rotation Parameters SO(3), Quaternion and Rotation Vector

      • Andrés Kecskeméthy
      Pages 67-76

  3. Properties of Mechanisms

    1. Front Matter

      Pages 77-77
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    2. Time-Invariant Properties of Planar Motions

      • Bernard Roth
      Pages 79-88

    3. Projective Properties of Parallel Manipulators

      • Adolf Karger
      Pages 89-96

    4. Screw Spaces and Connectivities in Multiloop Linkages

      • K. Wohlhart
      Pages 97-104

    5. Kinematics Equations of a Class of 4DOF Parallel Wrists

      • Matteo Zoppi, Dimiter Zlatanov, Clément M. Gosselin
      Pages 105-112

    6. Kinematic Structure of a Parallel Robot for MEMS Fabrication

      • Hagay Bamberger, Moshe Shoham
      Pages 113-122

    7. Isolating Self-Motion Manifolds on a PlaystationTM

      • J. M. Porta, L. Ros, F. Thomas
      Pages 123-132

    8. Mobility of Spatial Multi-Loop and Mixed Linkages

      • José M. Rico, Bahram Ravani
      Pages 133-142

  4. Humanoids and Biomedical Applications

    1. Front Matter

      Pages 143-143
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    2. Human-Like Motion from Physiologically-Based Potential Energies

      • O. Khatib, J. Warren, V. De Sapio, L. Sentis
      Pages 145-154
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Keywords

About this book

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)

Editors and Affiliations

  • Jožef Stefan Institute, Ljubljana, Slovenia

    J. Lenarčič

  • University of Genoa, Genoa, Italy

    C. Galletti

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