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Latest Advances in Robot Kinematics

  • Conference proceedings
  • © 2012

Overview

Editors:
  1. Jadran Lenarcic

    1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

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  2. Manfred Husty

    1. Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Innsbruck, Austria

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  • Includes the most recent results in the area
  • Includes the most prominent authors and references
  • Covers a wide spectrum of areas with the focus on robot kinematics
  • Unique in the world
  • Includes supplementary material: sn.pub/extras

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Table of contents (56 papers)

  1. Front Matter

    Pages I-XI
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  2. The Dual Generalized Inverses and Their Applications in Kinematic Synthesis

    • Jorge Angeles
    Pages 1-10

  3. On the Twist Recovery Methodologies After Failure

    • Leila Notash
    Pages 11-18

  4. A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms

    • Shuxian Xia, Huafeng Ding, Andres Kecskemethy
    Pages 19-26

  5. Self-Motions of Planar Projective Stewart Gough Platforms

    • G. Nawratil
    Pages 27-34

  6. Asymptotic Singularities of Planar Parallel 3-RPR Manipulators

    • Michel Coste
    Pages 35-42

  7. Classification of the Singularity Loci of m-n Fully-Parallel Manipulators

    • Raffaele Di Gregorio
    Pages 43-50

  8. Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains

    • Alexandr Klimchik, Anatol Pashkevich, Damien Chablat, Geir Hovland
    Pages 51-58

  9. Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm

    • Janusz Jakubiak, Krzysztof Tchoń, Mariusz Janiak
    Pages 59-66

  10. Robotic Fish Kinectics Design Based on a Fuzzy Control

    • Pei-Jun Lee, Wen-June Wang
    Pages 67-74

  11. Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points

    • Andreas Müller, Maurizio Ruggiu
    Pages 75-82

  12. Trajectory Planning for Systems with Homotopy Class Constraints

    • Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, Vijay Kumar
    Pages 83-90

  13. Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action

    • F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli, B. Siciliano
    Pages 91-98

  14. On the Vertical Darboux Motion

    • Chung-Ching Lee, Jacques M. Hervé
    Pages 99-106

  15. Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting

    • Rafael E. Vasquez, Carl D. Crane III, Julio C. Correa
    Pages 107-114

  16. Motion Planning for Parallel Robots with Non-holonomic Joints

    • Krzysztof Tchoń, Janusz Jakubiak, Patrick Grosch, Federico Thomas
    Pages 115-122

  17. Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs)

    • Guowu Wei, Jian S. Dai
    Pages 123-130

  18. Type Synthesis of Binary Actuated Parallel Mechanisms

    • D. Schütz, R. J. Ellwood, A. Raatz, J. Hesselbach
    Pages 131-138

  19. Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System

    • Ouriel Barzilay, Yoram Gutfreund, Alon Wolf
    Pages 139-146

  20. Persistent Screw Systems of Dimension Four

    • Marco Carricato
    Pages 147-156
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Keywords

About this book

This book is  of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic 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.
In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

Editors and Affiliations

  • J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarcic

  • Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Innsbruck, Austria

    Manfred Husty

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