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Advances in Robot Kinematics: Analysis and Design

  • Book
  • © 2008

Overview

Editors:
  1. Jadran Lenarčič

    1. J. Stefan Institute, Ljubljana, Slovenia

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    You can also search for this editor in PubMed   Google Scholar

  2. Philippe Wenger

    1. IRCCyN Institute, Nantes, France

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    You can also search for this editor in PubMed   Google Scholar

  • Advances in Robot Kinematics is a unique series representing the state of the art in its field.
  • All books were published by Kluwer and Springer in the past.
  • This book continues a tradition from 1991.

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Table of contents (48 chapters)

  1. Front Matter

    Pages i-xi
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  2. Singularity Analysis of Parallel Manipulators

    1. A New Assessment of Singularities of Parallel Kinematic Chains

      • Michele Conconi, Marco Carricato
      Pages 3-12

    2. Singularity Analysis through Static Analysis

      • J. Hubert, J. -P. Merlet
      Pages 13-20

    3. Constraint Singularities and the Structural Parameters of Parallel Robots

      • Grigore Gogu
      Pages 21-28

    4. Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator

      • Xianwen Kong
      Pages 29-38

    5. Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility

      • Tanio K. Tanev
      Pages 39-48

    6. SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra

      • Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger
      Pages 49-58

    7. Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra

      • Daniel Kanaan, Philippe Wenger, Damien Chablat
      Pages 59-68

  3. Design of Robots and Mechanisms

    1. On the Design of Fully Constrained Parallel Cable-Driven Robots

      • M. Gouttefarde, S. Krut, O. Company, F. Pierrot, N. Ramdani
      Pages 71-78

    2. Synthesis of Part Orienting Devices for Spatial Assembly Tasks

      • P. Larochelle
      Pages 79-87

    3. Minimum Energy Manipulator Design

      • A. Rojas Salgado, Y. Ledezma Rubio
      Pages 89-99

    4. Synthesis and Analysis of a Constrained Spherical Parallel Manipulator

      • G. S. Soh, J. M. McCarthy
      Pages 101-110

    5. A Nonholonomic 3-DOF Parallel Robot

      • Patricia Ben-Horin, Federico Thomas
      Pages 111-118

    6. 4-DOF Parallel Architecture for Laparoscopic Surgery

      • Mohammad Aamir Khan, Matteo Zoppi, Rezia Molfino
      Pages 119-126

    7. Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control

      • Ch. Grand, P. Martinelli, J. -B. Mouret, S. Doncieux
      Pages 127-134

  4. Methods in Kinematics

    1. Extended Jacobian Inverse Kinematics and Approximation of Distributions

      • Mariusz Janiak, Krzysztof Tchoń
      Pages 138-146

    2. A Screw Syzygy with Applications to Robot Singularity Computation

      • J. M. Selig, Peter Donelan
      Pages 147-154

    3. Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators

      • Krzysztof Tchoń, Łukasz Małek
      Pages 155-164

    4. Robots Based on Assur Group A (3.5)

      • Karl Wohlhart
      Pages 165-175

    5. Kinematics of Free-Floating Systems through Optimal Control Theory

      • G. Le Vey
      Pages 177-184
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Keywords

About this book

This book presents the most recent research advances in the theory, design, control and application of robot systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems.

The book includes 48 independently reviewed papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The papers have been subdivided into the following sections: Singularity analysis of parallel manipulators, Design of robots and mechanisms, Motion planning and mobility, Performance and properties of mechanisms, Measure and calibration, Kinematic analysis and workspace.

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

Editors and Affiliations

  • J. Stefan Institute, Ljubljana, Slovenia

    Jadran Lenarčič

  • IRCCyN Institute, Nantes, France

    Philippe Wenger

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