Advances in Robot Kinematics 2020

Front Matter ....Pages i-xiv
 Advances in Robot Kinematics Facts and Thoughts  (Jadran Lenarčič)....Pages 1-6
 Inverse Kinematics Using a Converging Paths Algorithm  (Omid Heidari, Alba Perez Gracia)....Pages 7-14
 Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism  (G. M. Cruz-Martinez, J-C Avila Vilchis, A. Vilchis Gonzalez, S. Abdelaziz, P. Poignet)....Pages 15-24
 Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance  (Volkert van der Wijk)....Pages 25-32
 A Compliant Linkage for Cooperative Object Manipulation Through a Heterogeneous Mobile Multi-robot System  (Juan Mauricio Toro Ramos, Dhruvin Doshi, Daniel Schütz, Franz Dietrich)....Pages 33-40
 One Degree of Freedom 7-R Closed Loop Linkage as a Building Block of Nanorobots  (Meysam T. Chorsi, Pouya Tavousi, Caitlyn Mundrane, Vitaliy Gorbatyuk, Horea Ilies, Kazem Kazerounian)....Pages 41-48
 Modeling and Control of a Redundant Tensegrity-Based Manipulator  (Jérémy Begey, Marc Vedrines, Pierre Renaud, Nicolas Andreff)....Pages 49-56
 Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation  (Iosif Birlescu, Manfred Husty, Calin Vaida, Bogdan Gherman, Ionut Ulinici, Remus Bogateanu et al.)....Pages 57-64
 Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables  (Edoardo Idà, Sébastien Briot, Marco Carricato)....Pages 65-72
 On the Plane Symmetric Bricard Mechanism  (J. M. Selig)....Pages 73-81
 Exact Coupler-Curve Synthesis of Four-Bar Linkages with Fully Analytical Solutions  (Shaoping Bai, Rui Wu, Ruiqin Li)....Pages 82-89
 A General Method for Determining Algebraic Input-Output Equations for Planar and Spherical 4R Linkages  (Mirja Rotzoll, M. John D. Hayes, Manfred L. Husty, Martin Pfurner)....Pages 90-97
 The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables  (J-P. Merlet)....Pages 98-108
 The Geometrical Arrangement of Joint Constraints that Makes Natural Motion Possible: Experimental Verification on the Ankle  (Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli)....Pages 109-116
 Development of a Vector Geometrical Model for PKM Identification  (J.-B. Guyon, B. Boudon, H. Chanal, B. Blaysat)....Pages 117-124
 Wohlhart’s Three-Loop Mechanism: An Overconstrained and Shaky Linkage  (Andreas Müller)....Pages 125-132
 Invariants for Multi-twists, Screw Systems and Serial Manipulators  (Peter Donelan)....Pages 133-141
 Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor  (Daniel Condurache)....Pages 142-149
 Singularities in the Image-Based Visual Servoing of Five Points  (Abhilash Nayak, Sébastien Briot)....Pages 150-157
 Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle  (Amir Shahidi, Katrin Peitsch, Stefan Klimmek, Mathias Hüsing, Burkhard Corves)....Pages 158-165
 Algebraic Analysis of 3-RRC Parallel Manipulators  (Abhilash Nayak, Martin Pfurner, Huiping Shen, Manfred Husty)....Pages 166-173
 Magneto-Inertial Data Sensory Fusion Based on Jacobian Weighted-Left-Pseudoinverse  (Janez Podobnik, Marko Munih, Matjaž Mihelj)....Pages 174-181
 Evaluating the Snappability of Bar-Joint Frameworks  (G. Nawratil)....Pages 182-189
 Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions  (Rodrigo Luis Pereira Barreto, Andrea Piga Carboni, Roberto Simoni, Daniel Martins)....Pages 190-198
 A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics  (João Cavalcanti Santos, Marc Gouttefarde)....Pages 199-208
 Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots  (Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau)....Pages 209-217
 A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys  (Marc Fabritius, Andreas Pott)....Pages 218-225
 Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms  (Swaminath Venkateswaran, Damien Chablat)....Pages 226-233
 Degeneration to Infinity May Provide Information About Kinematics  (Michel Coste, Nestor Djintelbe)....Pages 234-241
 Kinematic Synthesis of a Modified Jansen Leg Mechanism  (Kevin Chen, J. Michael McCarthy)....Pages 242-249
 Exponential Displacement Coordinates by Means of the Adjoint Representation  (Bertold Bongardt, John J. Uicker)....Pages 250-258
 A Comparative Study on 2-DOF Variable Stiffness Mechanisms  (Christoph Stoeffler, Shivesh Kumar, Andreas Müller)....Pages 259-267
 Kinematics and Orientation Workspace of a 3-DOF Parallel Robotic Wrist Actuated by Spherical Four-Bar Linkages  (Guanglei Wu, Ning Zhang, Chuangchuang Cui, Huiping Shen, Xuping Zhang)....Pages 268-276
 Analytical Determination of the Longest Cylinder Free of Gain-type Singularities Inside the Workspace of a \\(3\\)-RPS Spatial Manipulator  (Argaja Deepak Shende, Bibekananda Patra, Prem Kumar Prasad, Sandipan Bandyopadhyay)....Pages 277-284
 Clifford’s Identity and Generalized Cayley-Menger Determinants  (Federico Thomas, Josep M. Porta)....Pages 285-292
 A New Approach for Continuous Wrapping of a Thick Strand on a Surface — The Planar Case with Constant Length and Free Ends  (Katharina Müller, Andres Kecskemethy)....Pages 293-302
 Higher Order Path Synthesis of Four-Bar Mechanisms Using Polynomial Continuation  (Aravind Baskar, Mark Plecnik)....Pages 303-310
 Development of a Reconfigurable Four-Bar Mechanism for a Human Robot Collaborative Gripper  (Keerthi Sagar, Vishal Ramadoss, Michal Jilich, Matteo Zoppi, Dimiter Zlatanov, Alessandro Zanella)....Pages 311-318
 Kinematic Analysis of a Planar Manipulator with Anti-parallelogram Joints and Offsets  (Philippe Wenger, Matthieu Furet)....Pages 319-326
 On Singularity and Instability in a Planar Parallel Continuum Mechanism  (Oscar Altuzarra, Francisco J. Campa)....Pages 327-334
 Modeling and Simulation of Hybrid Soft Robots Using Finite Element Methods: Brief Overview and Benefits  (Stanislao Grazioso, Giuseppe Di Gironimo, Luciano Rosati, Bruno Siciliano)....Pages 335-340
 Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM)  (Tadej Petrič, Marko Jamšek, Jan Babič)....Pages 341-348
 Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control  (JR Jurado Realpe, Salih Abdelaziz, Philippe Poignet)....Pages 349-358
Back Matter ....Pages 359-360