Advances in Robot Kinematics

Editors: Lenarčič, Jadran, Stanisic, M.M. (Eds.)

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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).

Table of contents (45 chapters)

  • Study’s Kinematic Mapping — A Tool for Motion Design

    Gfrerrer, A.

    Pages 7-16

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

    Staffetti, E. (et al.)

    Pages 17-26

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

    Milenkovic, V. (et al.)

    Pages 27-34

  • Numerically Stable Methods for Converting Rotation Matrices to Euler Parameters

    Coope, I. D. (et al.)

    Pages 35-42

  • Geometry of Homokinematic Spatial Cardan Shafts by Dual Methods

    Keler, M.

    Pages 43-52

Buy this book

eBook $209.00
price for USA (gross)
  • ISBN 978-94-011-4120-8
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $228.00
price for USA
  • ISBN 978-0-7923-6426-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $269.00
price for USA
  • ISBN 978-94-010-5803-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Advances in Robot Kinematics
Editors
  • Jadran Lenarčič
  • M.M. Stanisic
Copyright
2000
Publisher
Springer Netherlands
Copyright Holder
Springer Science+Business Media Dordrecht
eBook ISBN
978-94-011-4120-8
DOI
10.1007/978-94-011-4120-8
Hardcover ISBN
978-0-7923-6426-9
Softcover ISBN
978-94-010-5803-2
Edition Number
1
Number of Pages
V, 442
Topics