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Computational Kinematics ’95

Proceedings of the Second Workshop on Computational Kinematics, held in Sophia Antipolis, France, September 4–6, 1995

  • Conference proceedings
  • © 1995

Overview

Editors:
  1. Jean-Pierre Merlet

    1. Institut National de Recherche en Informatique et en Automatique, Sophia Antipolis, France

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  2. Bahram Ravani

    1. Department of Mechanical Engineering, University of California, Davis, USA

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    You can also search for this editor in PubMed   Google Scholar

Part of the book series: Solid Mechanics and Its Applications (SMIA, volume 40)

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Table of contents (31 papers)

  1. Front Matter

    Pages i-x
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  2. Kinematics Algorithms

    1. Coordinate Free Criteria for Testing the Linear Dependence of the Sets of Screws

      • D. P. Chevallier
      Pages 1-10

    2. A Pseudo-Dual Notation for Kinematic Calculations

      • J. M. Herve
      Pages 11-18

    3. Mobile Robot Localization by Cable-Extension Transducers

      • D. Hong, K. J. Mueller, S. A. Velinsky
      Pages 19-30

    4. An Extension Theorem for Kinematic Systems of Equations

      • P. Kovács, G. Hommel
      Pages 31-40

    5. Applications of Clifford Algebras in Robotics

      • B. Mourrain, N. Stolfi
      Pages 41-50

    6. Elimination Methods for Spatial Synthesis

      • J. Nielsen, B. Roth
      Pages 51-62

    7. The Application of Finite Displacement Screws to Drawing Constraints

      • I. A. Parkin
      Pages 63-72

    8. Real Root Counting for Some Robotics Problems

      • Fabrice Rouillier
      Pages 73-82

    9. A Spatial Constraint Problem

      • C. M. Hoffmann, P. J. Vermeer
      Pages 83-92

    10. Motor Tensor Calculus

      • K. Wohlhart
      Pages 93-102

  3. Kinematics of Mechanisms

    1. The Inverted Slider-Crank Used for the Design of an Approximated Straight-Line Mechanism

      • Evert A. Dijksman, Anton T. J. M. Smals
      Pages 103-111

    2. On the Choice of Independent Loops in Mechanism Kinematics

      • Pietro Fanghella, Carlo Galletti
      Pages 113-122

    3. Symbolic and Numeric Computation for the Real-Time Simulation of a Car Behavior

      • C. Garnier, B. Mourrain, P. Rideau
      Pages 123-132

    4. On Minimum Joint Torque Configurations of Multiple-Link Manipulator

      • J. Lenarčič
      Pages 133-142

  5. Workspace

    1. Analytical Constraints for a Workspace Design of 2R Manipulators

      • Marco Ceccarelli, Gianbattista Scaramuzza
      Pages 173-182

    2. A Hierarchical Representation of the Space Occupancy of a Robot Mechanism

      • R. Featherstone
      Pages 183-192
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Keywords

About this book

The aim of this book is to provide an account of the state of the art in Com­ putational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the nu­ merical type, but also of symbolic as well as geometric nature. Research in kinematics over the last decade has been remarkably ori­ ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo­ metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.

Editors and Affiliations

  • Institut National de Recherche en Informatique et en Automatique, Sophia Antipolis, France

    Jean-Pierre Merlet

  • Department of Mechanical Engineering, University of California, Davis, USA

    Bahram Ravani

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