Advances in Robot Kinematics and Computational Geometry

Front Matter....Pages I-3
Front Matter....Pages 5-5
Computational Advances in Robot Kinematics....Pages 7-16
Front Matter....Pages 17-17
Characterizing the Workspace of the Spherical Image of Cooperating Robots....Pages 19-28
On the Kinematics of Nonsingular and Singular Posture Changing Manipulators....Pages 29-38
Determination of the Workspace Boundary of a General n-Revolute Manipulator....Pages 39-48
Local Pictures for General Two-parameter Planar Motions....Pages 49-58
Limited Existence of Three-Dimensional Conformal Mapping in Robots....Pages 59-68
Front Matter....Pages 69-69
Geometric Analysis of Spatial Rigid-Body Dynamics with Multiple Friction Contacts....Pages 71-80
An Inverse Design Algorithm for a G 2 Interpolating Spline Motion....Pages 81-90
Geometry of Parallel-Jaw Gripper Grasps in the Plane....Pages 91-100
Computational Geometry in the Synthesis of Skew Gear Teeth....Pages 101-108
Front Matter....Pages 109-109
A CAD Tool for Remote Calibration of Space Station Robotic Test Bed....Pages 111-118
Kinematic Calibration and the Product of Exponentials Formula....Pages 119-128
A Systematic Approach to Model Arbitrary Non Geometric Kinematic Errors....Pages 129-138
Front Matter....Pages 139-139
The Wheeled Actively Articulated Vehicle (WAAV): An Advanced Off-Road Mobility Concept....Pages 141-150
Limitations of Kinematic Models for Wheeled Mobile Robots....Pages 151-160
A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robots....Pages 161-170
An Investigation of the Kinematic Control of a Six-legged Walking Robot....Pages 171-178
Front Matter....Pages 179-179
Kinematic Isotropy in 3R Positioning Manipulators....Pages 181-190
An Object Shape Dependent Kinematic Manipulability Measure for Path Planning and Shape Optimization....Pages 191-200
Application of Dexterity Indices to Spatial Articulated Hands....Pages 201-208
Front Matter....Pages 179-179
Characterization of Kinematic and Static Performances of Robotic Geared Wrists....Pages 209-218
Front Matter....Pages 219-219
A Dynamically Consistent Strategy for Manipulator Control at Singularities....Pages 221-228
Third-Order Control of a Planar System Tracking Constant Curvature Paths....Pages 229-238
Control of Manipulators With Flexible Joints and Links by Non Linear Inversion, Modal Damping and Joints Stiffening....Pages 239-248
Inverse Kinematic Solution and Mixed Control Law for Redundant Robot in the Cartesian Space....Pages 249-258
Front Matter....Pages 259-259
An Inverse Force Analysis of a Spatial Three-Spring System....Pages 261-270
A two-arm robot can be stronger than two arms Experiments on optimal force distribution in two-arm robot ....Pages 271-280
Minimum Joint Torque Configurations of Planar Multiple-Link Manipulator....Pages 281-288
Front Matter....Pages 289-289
Positional Inverse Kinematic Problems in T n × R m Solved in T 2(n+m) ....Pages 291-300
Explicit Modelling of General Task Spaces for Inverse Kinematics....Pages 301-308
On the General Solution of the Inverse Kinematics of Six-Degrees-of-Freedom Manipulators....Pages 309-318
Coping with Joint Velocity Limits in First-Order Inverse Kinematics Algorithms....Pages 319-328
Hybrid Position-Orientation Decoupling in Robot Manipulators....Pages 329-338
Dual Basis of Screw-Vectors for Inverse Kinestatic Problems in Robotics....Pages 339-348
Front Matter....Pages 349-349
A Comparison of Two Minimally-Singular Articulated Arm-Subassemblies....Pages 351-358
Design and Multi-Objective Optimization of a Linkage for a Haptic Interface....Pages 359-368
Design of a Three-dof Tendon-driven Manipulator with the Characteristics of Equal Maximum Tensions....Pages 369-378
Spherical 3 d.o.f. Geared Wrist with no Aligned Singularity....Pages 379-388
Front Matter....Pages 389-389
Is There a Most General Kinematic Chain?....Pages 391-400
Zero-Magnitude Screws in a 3-System of Finite Displacement Screws....Pages 401-410
Front Matter....Pages 389-389
True Straight-line Linkages Having a Rectilinear Translating Bar....Pages 411-420
On the Reduction of Parameters in Kinematic Equations....Pages 421-426
Front Matter....Pages 427-427
Symbolic-Form Forward Kinematics of a 5-4 Fully-Parallel Manipulator....Pages 429-438
Evaluation of the Errors When Solving the Direct Kinematics of Parallel Manipulators With Extra Sensors....Pages 439-448
A Special Type of Singular Stewart-Gough Platform....Pages 449-458
A Smart Kinestatic Interactive Platform....Pages 459-464
Front Matter....Pages 465-465
Strategic Collision Avoidance of Two Robot Arms in the Same Work Cell....Pages 467-476
A Collision-Detection Scheme Based on Convex-Hulls Concept for Generating Kinematically Feasible Robot Trajectories....Pages 477-484
Collision-Avoidance Robot Path Planning Using Fully Cartesian Coordinates....Pages 485-494
Planning Grasp Points and Base Locations of Single Robots and Cooperating Robot Systems....Pages 495-504
Vision-Based Robot Path Planning....Pages 505-512
Back Matter....Pages 513-513