Advances in Robot Kinematics: Analysis and Control

Front Matter....Pages i-4
Front Matter....Pages 5-5
The Stewart-Gough Platform of General Geometry can have 40 Real Postures....Pages 7-16
Parallel Arrays of Binary Actuators....Pages 17-26
Front Matter....Pages 27-27
A Study on the Kinematics of a Class of Parallel Manipulators....Pages 29-38
Determination of the Presence of Singularities in 6D Workspace of a Gough Parallel Manipulator....Pages 39-48
A Translational 3-dof Parallel Manipulator....Pages 49-58
Inverse Kinematics of a Planar Manipulator with Holonomic Higher Pairs....Pages 59-68
 N -Position Synthesis of Parallel Planar RPR Platforms....Pages 69-78
Dual Expansion of an Optimal in-Parallel Spherical Platform Device into a Spatial One....Pages 79-86
Kinematics and Force Analysis of a 6 D.O.F. Parallel Mechanism with Elastic Joints....Pages 87-96
Inverse Kinematics for an Underconstrained Cable Suspension Manipulator....Pages 97-104
Workspace, Stiffness, Singularities and Classification of Tendon-Driven Stewart Platforms....Pages 105-114
Front Matter....Pages 115-115
Workspace and Assembly Modes in Fully-Parallel Manipulators: A Descriptive Study....Pages 117-126
The On-Line Direct Kinematics of Parallel Manipulators Under Joint-Sensor Redundancy....Pages 127-136
Forward Kinematics of a 6-6 Fully-Parallel Manipulator with Congruent Base and Platform....Pages 137-146
Forward Displacement Analysis of a Three-Legged Four-Degree-of-Freedom Parallel Manipulator....Pages 147-154
Double Circular-Triangular Six-Degrees-of-Freedom Parallel Robot....Pages 155-164
A New Parallel Mechanism to Use for Cutting Convex Glass Panels....Pages 165-174
Geometric Modelling of General Parallel Mechanisms for Calibration Purposes....Pages 175-184
Front Matter....Pages 185-185
On the Mass Center of Articulated Chains....Pages 187-196
A Spatial Algebra Approach to Kinematic Control of Dual-Arm Systems....Pages 197-206
Front Matter....Pages 185-185
Automatic Generation of Error Models of the Kinematics of Robots....Pages 207-216
SamoS: A Pythagorean Solution for Omni-Directional Underwater Vehicles....Pages 217-226
Predicting the Slop of in-Series/Parallel Manipulators Caused by Joint Clearances....Pages 227-236
Kinematics of a Split-Equator Symmetrically Actuated Double Pointing System Used in a Robotic Wrist....Pages 237-246
An Analytical Design of Telescopic Manipulator Arms for Prescribed Workspace....Pages 247-254
Modular Kinematics of Planar Mechanisms with Prismatic Pairs and Flexible Links....Pages 255-264
Front Matter....Pages 265-265
Geometry in Mechanics....Pages 267-276
The Kinematics of Röschel Polyhedra....Pages 277-286
A Remarkable Overconstrained Spherical Motion....Pages 287-296
Analytical Kinematics of Overconstrained 20-Link 24R Mechanism: Branches with One, Two and Three Degrees of Freedom....Pages 297-306
An Investigation of a Special Motion of an Octahedron Manipulator Using Screw Theory....Pages 307-316
Linear Systems of Tan-Screws for Finite Displacement of a Rigid Body with Symmetries....Pages 317-326
The Jacobian Analysis of a Parallel Manipulator Using Reciprocal Screws....Pages 327-336
On Compounding Three Successive Finite Displacement Screws....Pages 337-342
Unified Kinetostatics for Serial, Parallel and Mobile Robots....Pages 343-352
Front Matter....Pages 353-353
Applications of Fourier Methods on the Motion Group in Robot Kinematics....Pages 355-364
A Geometric Approach to Second and Higher Order Kinematic Analysis....Pages 365-374
Inverse Kinematics of Arbitrary Robotic Manipulators Using Genetic Algorithms....Pages 375-382
An Algorithm for Solving the Inverse Kinematics of a 6R Serial Manipulator Using Dual Quaternions and Grassmannians....Pages 383-392
An Algorithm for the Solution of Inverse Kinematics Problems Based on an Interval Method....Pages 393-402
Front Matter....Pages 353-353
Approximation in Line Space — Applications in Robot Kinematics and Surface Reconstruction....Pages 403-412
Rotation Minimizing Spherical Motions....Pages 413-422
Front Matter....Pages 423-423
Redundancy-Resolution Algorithms for Isotropic Robots....Pages 425-434
Robot Isotropy: A Reassessment....Pages 435-444
Architecture Singular Parallel Manipulators....Pages 445-454
Geometry & Architecturally Shaky Platforms....Pages 455-464
Characterisation of Architecturally Shaky Platforms....Pages 465-474
Singularity Consistent Inverse Kinematics by Enhancing the Jacobian Transpose....Pages 475-482
A Singularity Classification for Closed Chains....Pages 483-492
Coordination of Redundant Articulatory Parameters Near a Singularity in the Vocal Mechanism....Pages 493-500
Jacobian of a Flexible Manipulator Undergoing Large Elastic Displacements....Pages 501-510
Front Matter....Pages 511-511
Compensation of Geometric and Elastic Deflection Errors in Large Manipulators Based on Experimental Measurements: Application to a High Accuracy Medical Manipulator....Pages 513-522
Dynamic Models for Haptic Rendering Systems....Pages 523-532
Determination of Singularities and Self-Motion of a 7-dof Anthropomorphic Manipulator....Pages 533-542
Kinematic Stability in Quadrupedal Locomotion....Pages 543-550
Kinematics of the Human Forearms Pro- and Supination....Pages 551-560
The Human Lower Limb System During Swing Phase of Gait....Pages 561-570
The Self Motion of an Anthropomorphic Manipulator....Pages 571-578
Back Matter....Pages 579-581