On Advances in Robot Kinematics

Front Matter....Pages i-xi
Front Matter....Pages 1-1
A Fast and Accurate Method for the Singular Value Decomposition of 3×3 Matrices....Pages 3-12
SVD and PD Based Projection Metrics on SE(n)....Pages 13-22
Choice of Independent Coordinates in Modular Kinematics....Pages 23-30
Distance Constraints Solved Geometrically....Pages 31-40
Kinematic Mapping Application to Approximate Type and Dimension Synthesis of Planar Mechanisms....Pages 41-48
On the Ruled Surface Generated by a Linear Combination Screw....Pages 49-56
Lie-Group First-Order Operations in Rigid-Body Kinematics....Pages 57-66
First-Order Intrinsic Properties of the Rotation Parameters SO(3), Quaternion and Rotation Vector....Pages 67-76
Front Matter....Pages 77-77
Time-Invariant Properties of Planar Motions....Pages 79-88
Projective Properties of Parallel Manipulators....Pages 89-96
Screw Spaces and Connectivities in Multiloop Linkages....Pages 97-104
Kinematics Equations of a Class of 4DOF Parallel Wrists....Pages 105-112
Kinematic Structure of a Parallel Robot for MEMS Fabrication....Pages 113-122
Isolating Self-Motion Manifolds on a Playstation TM ....Pages 123-132
Mobility of Spatial Multi-Loop and Mixed Linkages....Pages 133-142
Front Matter....Pages 143-143
Human-Like Motion from Physiologically-Based Potential Energies....Pages 145-154
Role of Biarticular Muscles in Human Jump....Pages 155-162
Human Hand Movement Kinematics and Kinesthesia....Pages 163-170
Kinematic Synthesis of Avatar Skeletons from Visual Data....Pages 171-180
Kinematics and Modelling of a System for Robotic Surgery....Pages 181-190
Front Matter....Pages 143-143
Manipulability and Accuracy Measures for a Medical Robot in Minimally Invasive Surgery....Pages 191-198
Helix-Helix Packing in Proteins: The Kinematics of Interacting Line Segments....Pages 199-208
Front Matter....Pages 209-209
Analysis of the Influence of Wires Interference on the Workspace of Wire Robots....Pages 211-218
Workspaces Classification of 3R Orthogonal Manipulators....Pages 219-228
Workspace Classification of Stewart-Gough Manipulators with Planar Base and Platform....Pages 229-236
The Orthoglide: Kinematics and Workspace Analysis....Pages 237-246
A Cartesian Representation for the Boundary Workspace of 3R Manipulators....Pages 247-254
Kinematic Isotropy and Dynamic Performances in Translational Parallel Manipulators....Pages 255-264
Fully-Isotropic T3R1-Type Parallel Manipulators....Pages 265-272
Front Matter....Pages 273-273
The Singular Planes of the Articulated Arm Subassembly....Pages 275-282
Inverse Kinematics with Fuzzy Redundancy Resolution for a Fire Fighting Robot....Pages 283-292
A Force Based Approach to Error Analysis of Parallel Kinematic Mechanisms....Pages 293-302
Analysis and Optimization of a Planar Tendon-Driven Parallel Manipulator....Pages 303-312
Closed-Form Equilibrium Analysis of a Planar Tensegrity Structure....Pages 313-320
Singularities and Mobility of a Class of 4-DOF Mechanisms....Pages 321-328
Kinematics and Dynamics of a 6-RUS Hunt-Type Parallel Manipulator by Using Natural Coordinates....Pages 329-335
Front Matter....Pages 337-337
The Robust Design of Schönflies-Motion Generators....Pages 339-350
Polyhedral Zig-Zag Linkages....Pages 351-360
Variational Motion Design....Pages 361-370
New Parallel Wrists: Special Limbs with Motion Dependency....Pages 371-380
Front Matter....Pages 337-337
The Design of a Novel Pitch-Roll Wrist with Spherical Cam-Roller Pairs....Pages 381-388
Design of a Hybrid Manipulator for Painting Highway Signage....Pages 389-398
An Optimal Kinematic Design for a Highly Dextrous MIS Instrument....Pages 399-408
Achievable Cartesian Stiffness with Passively Compliant, Uncoupled Joints....Pages 409-418
Front Matter....Pages 419-419
Movement Primitives and Principal Component Analysis....Pages 421-430
Parallel Mechanisms with Pseudo-Planar Motion Generators....Pages 431-440
Multi-Agent Manipulator Control and Moving Obstacle Avoidance....Pages 441-448
Kinematics of a Parallel Mechanism for the Generation of Spherical Motions....Pages 449-458
Control of a Maneuvering Mobile Robot by Transverse Functions....Pages 459-468
Acceleration-Driven Kinematics of Mobile Manipulators: An Endogenous Configuration Space Approach....Pages 469-476
Dynamic Dexterity and Isotropy of Mobile Robots: An Endogenous Configuration Space Approach....Pages 477-484
Back Matter....Pages 485-486