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Recent Advances in Robot Kinematics

  • Book
  • © 1996

Overview

Editors:
  1. Jadran Lenarčič

    1. J. Stefan Institute, University of Ljubljana, Slovenia

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  2. Vincenzo Parenti-Castelli

    1. Department of Mechanical Engineering, University of Bologna, Italy

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Table of contents (45 chapters)

  2. Modelling and computation

    1. Front Matter

      Pages 205-205
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    2. A Discussion on Metric Relations in Spatial Kinematics: Implicit and Explicit Formulas and Functional Dependence

      • E. Ceresole, P. Fanghella, C. Galletti
      Pages 207-216

    3. Tongue Model for Characterizing Vocal Tract Kinematics

      • Veljko Milenkovic, Paul H. Milenkovic
      Pages 217-224

    4. A New and Efficient Method for Symbolical Calculation of the Jacobian Matrix

      • G. Gogu, A. Barraco, P. Coiffet
      Pages 225-234

    5. Quaternion Based Force-Torque Analysis of Open Serial Kinematic Structures

      • K. Dobrovodský
      Pages 235-244

    6. Dual Vectors of the Kinematic and the Dynamic Kind in Matrices

      • M. L. Keler
      Pages 245-254

    7. Dual Numbers, Lie Algebra and 6R Inverse Kinematics

      • Kuangrong Hao
      Pages 255-264

    8. Backbone Curves to Approximate Minimum Joint Torque Configurations of Planar Multiple-Link Manipulators in Presence of Obstacles

      • J. Lenarčič
      Pages 265-274

  3. Analysis and simulation

    1. Front Matter

      Pages 275-275
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    2. Simulating the Motion of a Nonholonomic Robot and Its Trailer

      • A. L. Rankin, C. D. Crane, J. Duffy
      Pages 277-286

    3. Screwball: A User Interface for Specifying Screws

      • I. A. Parkin
      Pages 287-296

    4. Simulation of Flexible Manipulators Based on Their Newton-Euler Model

      • F. Boyer, P. Coiffet
      Pages 297-306

    5. Modeling of a Braced Robot with Four-Bar Mechanism

      • J. Zupančič, A. Kralj
      Pages 307-316

    6. A Remarkable Class of Overconstrained Linkages

      • O. Röschel
      Pages 317-324

    7. How to Extend Roberts’ Law for Eccentrically Driven, Inverted Slider-Cranks

      • E. A. Dijksman, A. T. J. M. Smals
      Pages 325-336
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Keywords

About this book

The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz­ Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.

Editors and Affiliations

  • J. Stefan Institute, University of Ljubljana, Slovenia

    Jadran Lenarčič

  • Department of Mechanical Engineering, University of Bologna, Italy

    Vincenzo Parenti-Castelli

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