Skip to main content
SpringerLink
Log in

Advances in Robot Kinematics

  • Book
  • © 2000

Overview

Editors:
  1. J. Lenarčič

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

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  2. M. M. Stanišić

    1. Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, USA

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (45 chapters)

  1. Front Matter

    Pages i-3
    Download chapter PDF

  2. Methods in Kinematics

    1. Front Matter

      Pages 5-5
      Download chapter PDF

    2. Study’s Kinematic Mapping — A Tool for Motion Design

      • A. Gfrerrer
      Pages 7-16

    3. Kinestatic Analysis of Serial and Parallel Robot Manipulators Using Grassmann-Cayley Algebra

      • E. Staffetti, F. Thomas
      Pages 17-26

    4. Unit Quaternion and CRV: Complementary Non-Singular Representations of Rigid-Body Orientation

      • V. Milenkovic, P. H. Milenkovic
      Pages 27-34

    5. Numerically Stable Methods for Converting Rotation Matrices to Euler Parameters

      • I. D. Coope, A. B. Lintott, G. R. Dunlop, M. I. Vuskovic
      Pages 35-42

    6. Geometry of Homokinematic Spatial Cardan Shafts by Dual Methods

      • M. Keler
      Pages 43-52

    7. A Concise Bézier Clipping Technique for Solving Inverse Kinematics Problems

      • C. Bombín, L. Ros, F. Thomas
      Pages 53-60

    8. Geometric Calibration of Robots Using Multiple Plane Constraints

      • S. Besnard, W. Khalil, G. Garcia
      Pages 61-70

  4. Force Analysis

    1. Front Matter

      Pages 127-127
      Download chapter PDF

    2. Impact Analysis as a Design Tool for the Legs of Mobile Robots

      • J. P. Schmiedeler, K. J. Waldron
      Pages 129-136

    3. Vehicle Wheel-Ground Contact Angle Estimation: With Application to Mobile Robot Traction Control

      • K. Iagnemma, S. Dubowsky
      Pages 137-146

    4. The Melbourne Hand

      • S. R. Lucas, C. R. Tischler, A. E. Samuel
      Pages 147-154
Back to top

Keywords

About this book

This book presents 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, 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 results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. All articles in the book were reported at the seventh international symposium on Advances in Robot Kinematics that was organised in June 2000 in the beautiful ancient Mediterranean town of Piran in Slovenia. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996), and Salzburg (1998).

Editors and Affiliations

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

    J. Lenarčič

  • Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, USA

    M. M. Stanišić

Bibliographic Information

Publish with us

Policies and ethics

Back to top

Search

Navigation