Advances in Robot Kinematics and Computational Geometry

1. Front Matter

   Pages I-3

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2. Introduction

   1. Front Matter

      Pages 5-5

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   2. Computational Advances in Robot Kinematics

      • Bernard Roth

      Pages 7-16

3. Workspace and Trajectory Analysis

   1. Front Matter

      Pages 17-17

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   2. Characterizing the Workspace of the Spherical Image of Cooperating Robots

      • A. P. Murray, J. M. McCarthy

      Pages 19-28

   3. On the Kinematics of Nonsingular and Singular Posture Changing Manipulators

      • P. Wenger, J. El Omri

      Pages 29-38

   4. Determination of the Workspace Boundary of a General n-Revolute Manipulator

      • Marco Ceccarelli

      Pages 39-48

   5. Local Pictures for General Two-parameter Planar Motions

      • C. G. Gibson, W. Hawes, C. A. Hobbs

      Pages 49-58

   6. Limited Existence of Three-Dimensional Conformal Mapping in Robots

      • Veljko Milenkovic, Paul H. Milenkovic

      Pages 59-68

4. Computational Geometry in Kinematics

   1. Front Matter

      Pages 69-69

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   2. Geometric Analysis of Spatial Rigid-Body Dynamics with Multiple Friction Contacts

      • J. R. Dooley, B. Ravani

      Pages 71-80

   3. An Inverse Design Algorithm for a G ² Interpolating Spline Motion

      • Q. Jeffrey Ge

      Pages 81-90

   4. Geometry of Parallel-Jaw Gripper Grasps in the Plane

      • Anil S. Rao

      Pages 91-100

   5. Computational Geometry in the Synthesis of Skew Gear Teeth

      • J. Phillips

      Pages 101-108

5. Kinematic Errors and Calibration

   1. Front Matter

      Pages 109-109

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   2. A CAD Tool for Remote Calibration of Space Station Robotic Test Bed

      • Salvatore Illiano, Giovanni Iodice, Bruno Siciliano

      Pages 111-118

   3. Kinematic Calibration and the Product of Exponentials Formula

      • Frank C. Park, Koichiro Okamura

      Pages 119-128

   4. A Systematic Approach to Model Arbitrary Non Geometric Kinematic Errors

      • M. Vincze, K. M. Filz, H. Gander, J. P. Prenninger, G. Zeichen

      Pages 129-138

6. Kinematics of Mobile Robots

   1. Front Matter

      Pages 139-139

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   2. The Wheeled Actively Articulated Vehicle (WAAV): An Advanced Off-Road Mobility Concept

      • S. V. Sreenivasan, P. K. Dutta, K. J. Waldron

      Pages 141-150

Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.

• algorithms
• complexity
• computational geometry
• design
• kinematics
• mobile robot
• modeling
• motion planning
• robot
• simulation

• “Jozef Stefan” Institute, University of Ljubljana, Slovenia

  Jadran Lenarčič

• University of California, Davis, USA

  Bahram Ravani

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