On Advances in Robot Kinematics
Editat de Jadran Lenarčič, C. Gallettien Limba Engleză Paperback – 30 dec 2010
Indexed in Conference Proceedings Citation Index- Science (CPCI-S)
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Specificații
ISBN-13: 9789048166220
ISBN-10: 9048166225
Pagini: 500
Ilustrații: XI, 486 p.
Dimensiuni: 170 x 244 x 26 mm
Ediția:Softcover reprint of hardcover 1st ed. 2004
Editura: SPRINGER NETHERLANDS
Colecția Springer
Locul publicării:Dordrecht, Netherlands
ISBN-10: 9048166225
Pagini: 500
Ilustrații: XI, 486 p.
Dimensiuni: 170 x 244 x 26 mm
Ediția:Softcover reprint of hardcover 1st ed. 2004
Editura: SPRINGER NETHERLANDS
Colecția Springer
Locul publicării:Dordrecht, Netherlands
Public țintă
ResearchCuprins
Methods in Kinematics.- A fast and accurate method for the singular value decomposition of 3×3 matrices.- SVD and PD based projection metrics on SE(n).- Choice of independent coordinates in modular kinematics.- Distance constraints solved geometrically.- Kinematic mapping application to approximate type and dimension synthesis of planar mechanisms.- On the ruled surface generated by a linear combination screw.- Lie-group first-order operations in rigid-body kinematics.- First-order intrinsic properties of the rotation parameters SO(3), quaternion and rotation vector.- Properties of Mechanisms.- Time-invariant properties of planar motions.- Projective properties of parallel manipulators.- Screw spaces and connectivities in multiloop linkages.- Kinematics equations of a class of 4DOF parallel wrists.- Kinematic structure of a parallel robot for MEMS fabrication.- Isolating self-motion manifolds on a playstation™.- Mobility of spatial multi-loop and mixed linkages.- Humanoids and Biomedical Applications.- Human-like motion from physiologically-based potential energies.- Role of biarticular muscles in human jump.- Human hand movement kinematics and kinesthesia.- Kinematic synthesis of avatar skeletons from visual data.- Kinematics and modelling of a system for robotic surgery.- Manipulability and accuracy measures for a medical robot in minimally invasive surgery.- Helix-Helix packing in proteins: The kinematics of interacting line segments.- Workspace and Isotropy.- Analysis of the influence of wires interference on the workspace of wire robots.- Workspace classification of 3R orthogonal manipulators.- Workspace classification of Stewart-Gough manipulators with planar base and platform.- The Orthoglide: Kinematics and workspace analysis.- A Cartesian representation forthe boundary workspace of 3R manipulators.- Kinematic isotropy and dynamic performances in translational parallel manipulators.- Fully-isotropic T3R1-type parallel manipulators.- Analysis of Mechanisms.- The singular planes of the articulated arm subassembly.- Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot.- A force based approach to error analysis of parallel kinematic mechanisms.- Analysis and optimization of a planar tendon-driven parallel manipulator.- Closed-form equilibrium analysis of a planar tensegrity structure.- Singularities and mobility of a class of 4-DOF mechanisms.- Kinematics and dynamics of a 6-RUS Hunt-type parallel manipulator by using natural coordinates.- Design of Mechanisms.- The robust design of Schönflies-motion generators.- Polyhedral Zig-Zag linkages.- Variational motion design.- New parallel wrists: Special limbs with motion dependency.- The design of a novel pitch-roll wrist with spherical cam-roller pairs.- Design of a hybrid manipulator for painting highway signage.- An optimal kinematic design for a highly dextrous MIS instrument.- Achievable Cartesian stiffness with passively compliant, uncoupled joints.- Motion Synthesis and Mobility.- Movement primitives and principal component analysis.- Parallel mechanisms with pseudo-planar motion generators.- Multi-agent manipulator control and moving obstacle avoidance.- Kinematics of a parallel mechanism for the generation of spherical motions.- Control of a maneuvering mobile robot by transverse functions.- Acceleration-driven kinematics of mobile manipulators: An endogenous configuration space approach.- Dynamic dexterity and isotropy of mobile robots: An endogenous configuration space approach.- Author Index.