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Advances in Robot Kinematics

  • Book
  • © 2014

Overview

Editors:
  1. Jadran Lenarčič

    1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

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    You can also search for this editor in PubMed   Google Scholar

  2. Oussama Khatib

    1. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, USA

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  • Includes the most recent results in the area

  • Includes the most prominent authors and references

  • Covers a wide spectrum of areas with the focus on robot kinematics - unique in the world

  • Includes supplementary material: sn.pub/extras

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Table of contents (56 chapters)

  1. Front Matter

    Pages i-xii
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  2. Computing Cusps of 3R Robots Using Distance Geometry

    • Federico Thomas
    Pages 1-9

  3. Kinematic Mapping of SE(4) and the Hypersphere Condition

    • Georg Nawratil
    Pages 11-19

  4. Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator

    • Paul Zsombor-Murray
    Pages 21-29

  5. The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design

    • Sébastien Briot, Victor Rosenzveig, Philippe Martinet
    Pages 31-39

  6. Impact of Perturbation on Wire Tension Vector

    • Leila Notash
    Pages 41-49

  7. A Deployable Parallel Wrist with Simple Kinematics

    • Raffaele Di Gregorio
    Pages 51-58

  8. Geometric Derivation of 6R Linkages with Circular Translation

    • Chung-Ching Lee, Jacques M. Hervé
    Pages 59-67

  9. Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation

    • Gökhan Kiper, Barış Bağdadioğlu, Tunç Bilgincan
    Pages 69-76

  10. Some Remarks on the RRR Linkage

    • J. M. Selig
    Pages 77-85

  11. Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator

    • Leonardo Mejia, Henrique Simas, Daniel Martins
    Pages 87-94

  12. Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach

    • Krzysztof Tchoń, Janusz Jakubiak
    Pages 95-103

  13. Nonsingular Change of Assembly Mode Without any Cusp

    • Michel Coste, Damien Chablat, Philippe Wenger
    Pages 105-112

  14. The Influence of Discrete-Time Control on the Kinematico-Static Behavior of Cable-Driven Parallel Robot with Elastic Cables

    • Jean-Pierre Merlet
    Pages 113-121

  15. Derivatives of Screw Systems in Body-Fixed Representation

    • Andreas Müller
    Pages 123-130

  16. Sharp Linkages

    • Zijia Li
    Pages 131-138

  17. Solvable Multi-Fingered Hands for Exact Kinematic Synthesis

    • Abhijit Makhal, Alba Perez-Gracia
    Pages 139-147

  18. Non-singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot

    • Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz
    Pages 149-159

  19. Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms

    • Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
    Pages 161-169

  20. Human Motion Kinematics Assessment Using Wearable Sensors

    • Sebastjan Šlajpah, Roman Kamnik, Marko Munih
    Pages 171-180
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Keywords

About this book

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained.

The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

Editors and Affiliations

  • J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  • Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, USA

    Oussama Khatib

Bibliographic Information

  • Book Title: Advances in Robot Kinematics

  • Editors: Jadran Lenarčič, Oussama Khatib

  • DOI: https://doi.org/10.1007/978-3-319-06698-1

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer International Publishing Switzerland 2014

  • Hardcover ISBN: 978-3-319-06697-4Published: 04 June 2014

  • Softcover ISBN: 978-3-319-35790-4Published: 17 September 2016

  • eBook ISBN: 978-3-319-06698-1Published: 19 May 2014

  • Edition Number: 1

  • Number of Pages: XII, 561

  • Number of Illustrations: 49 b/w illustrations, 180 illustrations in colour

  • Topics: Robotics and Automation, Computational Science and Engineering, Vibration, Dynamical Systems, Control

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