Advances in Robot Kinematics

1. Front Matter

   Pages i-3

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2. Methods in Kinematics

   1. Front Matter

      Pages 5-5

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   2. Study’s Kinematic Mapping — A Tool for Motion Design

      • A. Gfrerrer

      Pages 7-16

   3. Kinestatic Analysis of Serial and Parallel Robot Manipulators Using Grassmann-Cayley Algebra

      • E. Staffetti, F. Thomas

      Pages 17-26

   4. Unit Quaternion and CRV: Complementary Non-Singular Representations of Rigid-Body Orientation

      • V. Milenkovic, P. H. Milenkovic

      Pages 27-34

   5. Numerically Stable Methods for Converting Rotation Matrices to Euler Parameters

      • I. D. Coope, A. B. Lintott, G. R. Dunlop, M. I. Vuskovic

      Pages 35-42

   6. Geometry of Homokinematic Spatial Cardan Shafts by Dual Methods

      • M. Keler

      Pages 43-52

   7. A Concise Bézier Clipping Technique for Solving Inverse Kinematics Problems

      • C. Bombín, L. Ros, F. Thomas

      Pages 53-60

   8. Geometric Calibration of Robots Using Multiple Plane Constraints

      • S. Besnard, W. Khalil, G. Garcia

      Pages 61-70

3. Kinematic Synthesis

   1. Front Matter

      Pages 71-71

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   2. On Isotropic Sets of Points in the Plane. Application to the Design of Robot Architectures

      • J. Angeles, D. Chablat

      Pages 73-82

   3. Fourier Methods for Synthesis of Coupled Serial Chain Mechanisms

      • Y. Pang, V. Krovi

      Pages 83-92

   4. Dimensional Synthesis of Spatial RR Robots

      • A. Perez, J. M. McCarthy

      Pages 93-102

   5. Approximate Motion Synthesis Via Parametric Constraint Manifold Fitting

      • P. Larochelle

      Pages 103-110

   6. Designing Linkages with Symmetric Motions: The Spherical Case

      • J. M. Rico, B. Ravani

      Pages 111-118

   7. Kinematic Synthesis of Planar Platforms with RPR, PRR, and RRR Chains

      • A. Murray, M. Hanchak

      Pages 119-127

4. Force Analysis

   1. Front Matter

      Pages 127-127

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   2. Impact Analysis as a Design Tool for the Legs of Mobile Robots

      • J. P. Schmiedeler, K. J. Waldron

      Pages 129-136

   3. Vehicle Wheel-Ground Contact Angle Estimation: With Application to Mobile Robot Traction Control

      • K. Iagnemma, S. Dubowsky

      Pages 137-146

   4. The Melbourne Hand

      • S. R. Lucas, C. R. Tischler, A. E. Samuel

      Pages 147-154

This 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, manufacturing, 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 algebra, 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 mathematics related to robot theory, design, control and application. All articles in the book were reported at the seventh international symposium on Advances in Robot Kinematics that was organised in June 2000 in the beautiful ancient Mediterranean town of Piran in Slovenia. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996), and Salzburg (1998).

• automation
• biomechanics
• calculus
• design
• kinematics
• mechanics
• robot

• Department of Automatics, Biocybernetics and Robotics, J. Stefan Institute, Ljubljana, Slovenia

  J. Lenarčič

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

  M. M. Stanišić

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