Advances in robot kinematics: mechanisms and motion

Front Matter....Pages i-xi
Front Matter....Pages 1-1
Wire-based tracking using mutual information....Pages 3-14
The control number as index for Stewart Gough platforms....Pages 15-22
Determining the 3×3 rotation matrices that satisfy three linear equations in the direction cosines....Pages 23-32
A polar decomposition based displacement metric for a finite region of SE( n )....Pages 33-40
On the regularity of the inverse Jacobian of parallel robots....Pages 41-48
Parallel robots that change their group of motion....Pages 49-56
Approximating planar, morphing curves with rigid-body linkages....Pages 57-64
On the velocity analysis of non-parallel closed chain mechanisms....Pages 65-72
Front Matter....Pages 74-74
Kinematics of micro planar parallel robot comprising large joint clearances....Pages 75-84
Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement....Pages 85-94
Large kinematic error propagation in revolute manipulators....Pages 95-102
A framework for the analysis, synthesis and optimization of parallel kinematic machines....Pages 103-112
Searching for undiscovered planar straight-line linkages....Pages 113-122
Type synthesis of three-DOF up-equivalent parallel manipulators using a virtual-chain approach....Pages 123-132
The multiple virtual end-effectors approach for human-robot interaction....Pages 133-144
Front Matter....Pages 146-146
Balance and control of human inspired jumping robot....Pages 147-156
A convex optimization algorithm for stabilizing whole-body motions of humanoid robots....Pages 157-166
Parallel mechanisms for knee orthoses with selective recovery action....Pages 167-176
Modeling time invariance in human arm motion coordination....Pages 177-184
Assessment of finger joint angles and calibration of instrumental glove....Pages 185-192
Front Matter....Pages 146-146
All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications....Pages 193-200
On the inverse kinematics of a fragment of protein backbone....Pages 201-208
Predicting reaching postures using a kinematically constrained shoulder model....Pages 209-218
Front Matter....Pages 220-220
Self motions of special 3-RPR planar parallel robot....Pages 221-228
Graphical singularity analysis of 3-DOF planar parallel manipulators....Pages 229-238
Direct singularity closeness indexes for the hexa parallel robot....Pages 239-246
Stewart-Gough platforms with simple singularity surface....Pages 247-254
A robust model for 3D tracking in object-oriented multibody systems based on singularity-free Frenet framing....Pages 255-264
Singularity of a class of Gough-Stewart platforms with three concurrent joints....Pages 265-274
Singularity analysis of a 4-DOF parallel manipulator using geometric algebra....Pages 275-284
A geometrical interpretation of 3-3 mechanism singularities....Pages 285-294
Front Matter....Pages 296-296
Quantitative dexterous workspace comparisons....Pages 297-306
Level-set method for workspace analysis of serial manipulators....Pages 307-314
Determination of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms....Pages 315-322
Fully-isotropic hexapods....Pages 323-330
A new calibration stategy for a class of parallel mechanisms....Pages 331-338
The dynamic optimization of PKM....Pages 339-348
On non-assembly in the optimal synthesis of serial manipulators performing prescribed tasks....Pages 349-356
Front Matter....Pages 358-358
Complexity analysis for the conceptual design of robotic architecture....Pages 359-368
Robust three-dimensional non-contacting angular motion sensor....Pages 369-376
Front Matter....Pages 358-358
Synthesis of spherical four-bar mechanisms using spherical kinematic mapping....Pages 377-384
Synthesis of 2-DOF spherical fully parallel mechanisms....Pages 385-394
Constraint synthesis for planar n -R robots....Pages 395-402
Calculating force distributions for redundantly actuated tendon-based Stewart platforms....Pages 403-412
A study of minimal sensor topologies for space robots....Pages 413-422
Kinematics and optimization of the translating 3-CCR/3-RCC parallel mechanisms....Pages 423-432
Front Matter....Pages 434-434
Pseudo-planar motion generators....Pages 435-444
On PKM with articulated travelling-plate and large tilting angles....Pages 445-454
Mobility and connectivity in multiloop linkages....Pages 455-464
Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators....Pages 465-472
Kinematics and grasping using conformal geometric algebra....Pages 473-480
Application of kinematics tools in the study of internal mobility of protein molecules....Pages 481-488
Motion pattern singularity in lower mobility parallel manipulators....Pages 489-496
Back Matter....Pages 497-498