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Advances in Robot Kinematics

With Emphasis on Symbolic Computation

  • Conference proceedings
  • © 1991

Overview

Editors:
  1. Sabine Stifter

    1. RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

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  2. Jadran Lenarčič

    1. Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

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    You can also search for this editor in PubMed   Google Scholar

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Table of contents (53 papers)

  1. Front Matter

    Pages i-xiv
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  3. Modeling and Computation

    1. Front Matter

      Pages 27-27
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    2. Adaptative Grid for Autonomous Robot, Environment Modeling

      • V. Boschian, A. Pruski, C. Laurent
      Pages 28-36

    3. Industrial Robots: Application of a Rational Solution for the Direct and Inverse Dynamic Problem

      • Federico Casolo, Rodolfo Faglia, Giovanni Legnani
      Pages 37-46

    4. Algorithmization of Kinematic Modelling of Industrial Robots

      • G. Gogu
      Pages 47-54

    5. Imaginary Kinematics

      • Peter Kovesi
      Pages 55-62

    6. An Efficient Computational Method of the Jacobian for Robot Manipulators

      • Chang-Jin Li, A. Hemami, T. S. Sankar
      Pages 63-70

    7. On Determining Parameters of the Twist-Axis for the Finite Displacement of a Body

      • I. A. Parkin
      Pages 71-80

    8. A Summary of the Theory and Application of the Conics Method in Robot Kinematics

      • David R. Smith, Harvey Lipkin
      Pages 81-88

    9. Kinematic modelling of tasks under constraints. Application to fine motion and calibration

      • Thierry Tran, Alain Giraud
      Pages 89-98

    10. Modal Formulations for the Dynamics of Flexible Manipulators and Large Space Structures

      • E. Wehrli, P. Coiffet
      Pages 99-107

    11. Kinematic Model of a Robot Hand and Computation of Grasp Matrix using Screw Systems

      • Miloš Žefran, Tadej Bajd
      Pages 108-115

  4. Analysis and Design

    1. Front Matter

      Pages 117-117
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    2. Global Determination of the Minimal Set of Inertial Parameters of Robots Having Open or Closed-Loop Kinematic Structures

      • P. Desbats, A. Micaelli
      Pages 118-127

    3. A Singularity Free Six Degree of Freedom Manipulator

      • F. Di Caprio, S. S. Khanuja, M. M. Stanišić, O. Duta
      Pages 128-135

    4. Evaluation of Loop Constraints of General Closed-Chain Linkages

      • H. J. Kang, R. A. Freeman
      Pages 136-143
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Keywords

About this book

This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990. The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics.

Editors and Affiliations

  • RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

    Sabine Stifter

  • Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

    Jadran Lenarčič

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