Ebook: Advances in Robot Kinematics: Mechanisms and Motion
- Tags: Automation and Robotics, Theoretical and Applied Mechanics, Engineering Design, Control Engineering
- Year: 2006
- Publisher: Springer Netherlands
- Edition: 1
- Language: English
- pdf
This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the theory and practice of robot kinematics and treat the motion of robots, in particular robot manipulators, without regard to how this motion is produced or c- trolled. Each book of Advances in Robot Kinematics reports the most recent research projects and presents many new discoveries. The issues addressed in this book are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, d- terity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quat- nion algebra, screw algebra, and linear algebra. These methods are - plied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers and students, in ?elds of engineering and mathematics related to robot theory, design, control and application. All the contributions had been rigorously reviewed by independent reviewers and ?fty three articles had been recommended for publi- tion. They were introduced in seven chapters. The authors discussed theirresultsatthetenthinternationalsymposiumonAdvancesinRobot Kinematics which was held in June 2006 in Ljubljana, Slovenia. The symposium was organized by Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science.
Indexed in Conference Proceedings Citation Index- Science (CPCI-S
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems.
The book includes 53 independently reviewed papers of researchers specialising in robot kinematics. The contributors are recognised authorities in this area. The papers have been subdivided into the following topical sections: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedicine, Analysis of Mechanisms, Workspace and Performance, Design of Mechanisms, Motion Synthesis and Mobility.
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems.
The book includes 53 independently reviewed papers of researchers specialising in robot kinematics. The contributors are recognised authorities in this area. The papers have been subdivided into the following topical sections: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedicine, Analysis of Mechanisms, Workspace and Performance, Design of Mechanisms, Motion Synthesis and Mobility.
Content:
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
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems.
The book includes 53 independently reviewed papers of researchers specialising in robot kinematics. The contributors are recognised authorities in this area. The papers have been subdivided into the following topical sections: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedicine, Analysis of Mechanisms, Workspace and Performance, Design of Mechanisms, Motion Synthesis and Mobility.
Content:
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
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