Advances in robot kinematics
著者
書誌事項
Advances in robot kinematics
Springer, c2014
- : [hardcover]
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注記
Includes bibliographical references and indexes
内容説明・目次
内容説明
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained.
The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
目次
Computing Cusps of 3R Robots Using Distance Geometry
Kinematic Mapping of SE(4) and the Hypersphere Condition
Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator
The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design
Impact of Perturbation on Wire Tension Vector
A Deployable Parallel Wrist with Simple Kinematics
Geometric Derivation of 6R Linkages with Circular Translation
Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation
Some Remarks on the RRR Linkage
Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator
Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach
Non singular Change of Assembly Mode Without any Cusp
The Influence of Discrete-Time Control on the Kinematic-Static
Behavior of Cable-Driven Parallel Robot with Elastic Cables
Derivatives of Screw Systems in Body-fixed Representation
Sharp Linkages
Solvable Multi-Fingered Hands for Exact Kinematic Synthesis
Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot
Influence of spring characteristics on the behavior of Tensegrity Mechanisms
Human Motion Kinematics Assessment Using Wearable Sensors
Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization
Human Motion Mapping to a Robot Arm with Redundancy Resolution
Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy
Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys
Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots
Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement
On the Limitations on the Lower and Upper Tensions for Cable-driven Parallel Robots
Characterization of the Subsystems in the General Three-System of Screws
Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators
Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom
Points, Lines, Screws and Planes in Dual Quaternions Kinematic
Recovering Dual Euler Parameters from Feature-based Representation of Motion
Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine
Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance
Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis
Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications
Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints
The Kinematics of Containment
The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a
Approximating Constrained Hand Paths via Kinematic Synthesis with Contact Specifications
Investigation of Error Propagation in Multi-Backbone Continuum Robots
Kinematics of Expansive Planar Periodic Mechanisms
From Inverse Kinematics to Optimal Control
New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators
Analysis of Constraint Equations and Their Singularities
Shape Optimized Heliostats for Kinematic Sun Tracking
Efficient Resolution of Hyper-Redundancy Using Splines
Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy
Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator
On the Kinematics of an Innovative Parallel Robot for Brachytherapy
Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint
Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines
Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program
Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units
Motion Capability of the 3-RPS Cube Parallel Manipulator
Coupling of Trajectories for Human-Robot Cooperative Tasks
Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator
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