Advances in Robot Kinematics and Computational Geometry

  • Jadran Lenarčič
  • Bahram Ravani

Table of contents

  1. Front Matter
    Pages I-3
  2. Introduction

    1. Front Matter
      Pages 5-5
  3. Workspace and Trajectory Analysis

  4. Computational Geometry in Kinematics

  5. Kinematic Errors and Calibration

    1. Front Matter
      Pages 109-109
    2. Salvatore Illiano, Giovanni Iodice, Bruno Siciliano
      Pages 111-118
    3. Frank C. Park, Koichiro Okamura
      Pages 119-128
    4. M. Vincze, K. M. Filz, H. Gander, J. P. Prenninger, G. Zeichen
      Pages 129-138
  6. Kinematics of Mobile Robots

    1. Front Matter
      Pages 139-139
    2. S. V. Sreenivasan, P. K. Dutta, K. J. Waldron
      Pages 141-150
    3. F. Demick Boyden, Steven A. Velinsky
      Pages 151-160
  7. Kinematic Performance

    1. Front Matter
      Pages 179-179
    2. M. L. Husty, J. Angeles
      Pages 181-190
    3. Benyoucef Imçaoudene, Clément M. Gosselin
      Pages 201-208
  8. Kinematics in Control

  9. Force and Elasticity Analysis

  10. Inverse Kinematics

  11. Kinematic Design

    1. Front Matter
      Pages 349-349
    2. S. J. Remis, M. M. Stanišić
      Pages 351-358
    3. Vincent Hayward, Jehangir Choksi, Gonzalo Lanvin, Christophe Ramstein
      Pages 359-368
    4. Giuseppe Quaglia, Massimo Sorli
      Pages 379-388
  12. Kinematic Analysis

    1. Front Matter
      Pages 389-389

About this book


Recently, research in robot kinematics has attracted researchers with different theoretical profiles and backgrounds, such as mechanical and electrica! engineering, computer science, and mathematics. It includes topics and problems that are typical for this area and cannot easily be met elsewhere. As a result, a specialised scientific community has developed concentrating its interest in a broad class of problems in this area and representing a conglomeration of disciplines including mechanics, theory of systems, algebra, and others. Usually, kinematics is referred to as the branch of mechanics which treats motion of a body without regard to the forces and moments that cause it. In robotics, kinematics studies the motion of robots for programming, control and design purposes. It deals with the spatial positions, orientations, velocities and accelerations of the robotic mechanisms and objects to be manipulated in a robot workspace. The objective is to find the most effective mathematical forms for mapping between various types of coordinate systems, methods to minimise the numerical complexity of algorithms for real-time control schemes, and to discover and visualise analytical tools for understanding and evaluation of motion properties ofvarious mechanisms used in a robotic system.


algorithms complexity computational geometry design kinematics mobile robot modeling motion planning robot simulation

Editors and affiliations

  • Jadran Lenarčič
    • 1
  • Bahram Ravani
    • 2
  1. 1.“Jozef Stefan” InstituteUniversity of LjubljanaSlovenia
  2. 2.University of CaliforniaDavisUSA

Bibliographic information

  • DOI
  • Copyright Information Springer Science+Business Media B.V. 1994
  • Publisher Name Springer, Dordrecht
  • eBook Packages Springer Book Archive
  • Print ISBN 978-90-481-4434-1
  • Online ISBN 978-94-015-8348-0
  • Buy this book on publisher's site
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