On advances in robot kinematics
著者
書誌事項
On advances in robot kinematics
Kluwer Academic Publishers, c2004
大学図書館所蔵 全4件
  青森
  岩手
  宮城
  秋田
  山形
  福島
  茨城
  栃木
  群馬
  埼玉
  千葉
  東京
  神奈川
  新潟
  富山
  石川
  福井
  山梨
  長野
  岐阜
  静岡
  愛知
  三重
  滋賀
  京都
  大阪
  兵庫
  奈良
  和歌山
  鳥取
  島根
  岡山
  広島
  山口
  徳島
  香川
  愛媛
  高知
  福岡
  佐賀
  長崎
  熊本
  大分
  宮崎
  鹿児島
  沖縄
  韓国
  中国
  タイ
  イギリス
  ドイツ
  スイス
  フランス
  ベルギー
  オランダ
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  アメリカ
注記
"Articles reported and discussed at the ninth International Symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy"--Pref
Includes bibliographical references and index
内容説明・目次
内容説明
In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports 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, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. 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. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.
Indexed in Conference Proceedings Citation Index- Science (CPCI-S)
目次
- - Methods in Kinematics. A fast and accurate method for the singular value decomposition of 3x3 matrices
- R. Vertechy, V. Parenti-Castelli. SVD and PD based projection metrics on SE(n)
- P.M. Larochelle, et al. Choice of independent coordinates in modular kinematics
- P. Fanghella, C. Galletti. Distance constraints solved geometrically
- F. Thomas, et al. Kinematic mapping application to approximate type and dimension synthesis of planar mechanisms
- M.J.D. Hayes, et al. On the ruled surface generated by a linear combination screw
- I.A. Parkin, C. Freeman. Lie-group first-order operations in rigid-body kinematics
- A. Kecskemethy. First-order intrinsic properties of the rotation parameters SO(3), quaternion and rotation vector
- A. Kecskemethy. - Properties of Mechanisms. Time-invariant properties of planar motions
- B. Roth. Projective properties of parallel manipulators
- A. Karger. Screw spaces and connectivities in multiloop linkages
- K. Wohlhart. Kinematics equations of a class of 4DOF parallel wrists
- M. Zoppi, et al. Kinematic structure of a parallel robot for MEMS fabrication
- H. Bamberger, M. Shoham. Isolating self-motion manifolds on a Playstation (R)
- J.M. Porta, et al. Mobility of spatial multi-loop and mixed linkages
- J.M. Rico, B. Ravani. - Humanoids and Biomedical Applications. Human-like motion from physiologically-based potential energies
- O. Khatib, et al. Role of biarticular muscles in human jump
- J. Babic, J. Lenarcic. Human hand movement kinematics and kinesthesia
- J.P. Schmiedeler, et al. Kinematic synthesis of avatar skeletons from visual data
- M.C. Villa-Uriol, et al. Kinematics and modelling of a system for robotic surgery
- H. Mayer, et al.Manipulability and accuracy measures for a medical robot in minimally invasive surgery
- R. Konietschke, et al. Helix-helix packing in proteins: The kinematics of interacting line segments
- S. Lee, G.S. Chirkjian. - Workspace and Isotropy. Analysis of the influence of wires interference on the workspace of wire robots
- J.-P. Merlet. Workspace classification of 3R orthogonal manipulators
- P. Wenger, et al. Workspace classification of Stewart-Gough manipulators with planar base and platform
- F. Pernkopf, M.L. Husty. The orthoglide: kinematics and workspace analysis
- A. Pashkevich, et al. A Cartesian representation for the boundary workspace of 3R manipulators
- E. Ottaviano, et al. Kinematic isotropy and dynamic performances in translational parallel manipulators
- R. Di Gregorio, V. Parenti-Castelli. Fully-isotropic T3R1-type parallel manipulators
- G. Gogu. - Analysis of Mechanisms. The singular planes of the articulated arm subassembly
- C.M. Goehler, M.M. Stanisi . Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot
- B. Siciliano, L. Villani. A force based approach to error analysis of parallel kinematic mechanisms
- A. Pott, M. Hiller. Analysis and optimization of a planar tendon-driven parallel manipulator
- J.A. Snyman, A.M. Hay. Closed-form equilibrium analysis of a planar tensegrity structure
- J. Bayat, C.D. Crane III. Singularities and mobility of a class of 4-DOF mechanisms
- D. Zlatanov, et al. Kinematics and dynamics of a 6-RUS Hunt-type parallel manipulator by using natural coordinates
- J.J. Gil, et al. - Design of Mechanisms. The robust design of Schoenflies-motion generators
- K. Al-Widyan, J. Angeles. Polyhedral zig-zag linkages
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