Overview
- Editors:
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J. Lenarčič
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Institute Jožef Stefan, Ljubljana, Slovenia
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F. Thomas
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Institute of Industrial Robotics (IRI), Barcelona, Spain
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Table of contents (53 chapters)
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Front Matter
Pages i-xiii
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Performance Evaluation
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- Gang Shen, Yukio Takeda, Hiroaki Funabashi
Pages 3-10
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- R. Di Gregorio, V. Parenti-Castelli
Pages 11-20
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- Han Sung Kim, Lung-Wen Tsai
Pages 21-28
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- K. Parsa, J. Angeles, A. K. Misra
Pages 39-48
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- Narcís Gascons, Haijun Su, J. M. McCarthy
Pages 49-56
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- E. Staffetti, H. Bruyninckx, J. De Schutter
Pages 57-66
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- Francisco Valero, Vicente Mata, Francisco Rubio, Josep-Lluís Suñer
Pages 67-76
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Design and Control of Special-Type Mechanisms
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- Jadran Lenarčič, Michael Stanišić, Eric Schearer
Pages 79-88
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- O. Khatib, O. Brock, K.-S. Chang, D. Ruspini, L. Sentis, F. Conti et al.
Pages 89-98
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- Cornel Brisan, Manfred Hiller
Pages 99-106
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- Federico Thomas, Erika Ottaviano, Lluís Ros, Marco Ceccarelli
Pages 107-116
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- Richard Verhoeven, Manfred Hiller
Pages 117-124
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- T. Heyden, T. Maier, C. Woernle
Pages 125-134
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Redundancy, Singularity, and Self-Motion
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Front Matter
Pages 145-145
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- Manfred Husty, Sonja Mielczarek, Manfred Hiller
Pages 147-154
About this book
This is the fifth book of the Kluwer's series Advances in Robot Kine matics. The 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, manufactur ing, 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 alge bra, 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 mathe matics related to robot theory, design, control and application. Each contribution in this book had been rigorously reviewed by two or three independent reviewers and 53 articles had been recommended for publication. We are happy to observe that Advances in Robot Kine matics has always attracted the most outstanding authors and has de veloped a remarkable scientific community in the area. Many important and original scientific results were for the first time reported and dis cussed in these books. All articles in this book were also reported at the eight international symposium on Advances in Robot Kinematics that was organised in June 2002 in Caldes de Malavella in Spain.
Editors and Affiliations
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Institute Jožef Stefan, Ljubljana, Slovenia
J. Lenarčič
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Institute of Industrial Robotics (IRI), Barcelona, Spain
F. Thomas