Advances in Robot Kinematics: Motion in Man and Machine

1. Front Matter

   Pages i-xi

   PDF

2. Part 1

   1. Front Matter

      Pages 1-1

      PDF

3. PART1

   1. Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges

      • R. J. Ellwood, D. Schütz, Annika Raatz, J. Hesselbach

      Pages 3-10

   2. Dynamic Jacobian Inverses of Mobile Manipulator Kinematics

      • K. Tchoń, J. Jakubiak, Ł. Małek

      Pages 11-21

   3. A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms

      • Nicolás Rojas, Federico Thomas

      Pages 23-32

   4. Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations

      • Marsette Vona

      Pages 33-43

   5. Researching into Non-Singular Transitions in the Joint Space

      • M. Urízar, V. Petuya, O. Altuzarra, A. Hernández

      Pages 45-52

   6. MARIONET, A Family of Modular Wire-Driven Parallel Robots

      • J.-P. Merlet

      Pages 53-61

   7. Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis

      • A. Wolf, I. Sharf, M. B. Rubin

      Pages 63-70

4. Part 2

   1. Front Matter

      Pages 72-72

      PDF

5. PART2

   1. Mechanical Generators of 2-DoF Translation along a Ruled Surface

      • Chung-Ching Lee, Jacques M. Hervé

      Pages 73-80

   2. Worm-Like Robotic Locomotion in Flexible Environment

      • D. Zarrouk, I. Sharf, M. Shoham

      Pages 81-89

   3. Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator

      • Maurizio Ruggiu, Juan A. Carretero

      Pages 91-98

   4. Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery

      • D. Pisla, N. Plitea, B. G. Gherman, C. Vaida, A. Pisla, M. Suciu

      Pages 99-106

   5. Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms

      • G. Nawratil

      Pages 107-116

   6. A Novel Actuation Module for Wearable Robots

      • M. Bergamasco, F. Salsedo, S. Marcheschi, N. Lucchesi

      Pages 117-125

   7. Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction

      • R. Vertechy, G. Berselli, M. Bergamasco, V. Parenti Castelli

      Pages 127-136

   8. Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy

      • S. Ambike, J. P. Schmiedeler, M. M. Stanišić

      Pages 137-144

6. Part 3

   1. Front Matter

      Pages 146-146

      PDF

7. PART3

   1. Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator

      • S. Abdelaziz, P. Renaud, B. Bayle, M. de Mathelin

      Pages 147-156

The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.

• actuator
• algorithms
• autonom
• kinematics
• motion planning
• parallel robot
• robot
• robotics

• Inst. J. Stefan, University Ljubljana, Ljubljana, Slovenia

  Jadran Lenarcic

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

  Michael M. Stanisic

Jadran Lenarcic has been Professor at the Faculty of Electrical Engineering, University of Ljubljana, Slovenia, since 1988. He is Director of the J. Stefan Institute of Automatics, Biocybernetics and Robotics since 2005. He is a member of the executive committee of the International Federation for the Theory of Machines and Mechanisms, member of the Board of the European Robotics network, and memebr of the Executive Board of the European Association of Research and Technology Organisations. He is regular member of the Slovenian Academy of Engineering Science.

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