Advances in Robot Kinematics

1. Redundancy, Singularity, and Self-Motion

   1. Singularities and Self-Motions of a Special Type of Platforms

      • Adolf Karger

      Pages 155-164

   2. Investigation of Singularities and Self-Motions of the 3-UPU Robot

      • A. Wolf, M. Shoham, F. C. Park

      Pages 165-174

   3. On Closure Modes and Singular Configurations of Kinematic Chains

      • J. E. Baker

      Pages 175-182

   4. Constraint Singularities as C-Space Singularities

      • Dimiter Zlatanov, Ilian A. Bonev, Clément M. Gosselin

      Pages 183-192

   5. Hierarchical Kinematic Analysis of a Redundant Robot

      • Daniel Martins, Raul Guenther

      Pages 193-202

   6. Motion Planning of Redundant Manipulators for Specified Trajectory Tasks

      • J. Alfonso Pámanes G., Philippe Wenger, José Luis Zapata D.

      Pages 203-212

   7. Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator

      • Günter Schreiber, Gerd Hirzinger

      Pages 213-222

2. Methods in Kinematics

   1. Front Matter

      Pages 223-223

      PDF

   2. Using Body Flexibility to Simplify the Solution of Kinematic Equations in the Dynamic Analysis of Robot Mechanisms and Multibody Systems

      • P. Fanghella, C. Galletti

      Pages 225-234

   3. Subdivision Algorithms for Motion Design Based on Homologous Points

      • M. Hofer, H. Pottmann, B. Ravani

      Pages 235-244

   4. Group Theory Can Explain the Mobility of Paradoxical Linkages

      • José M. Rico, Bahram Ravani

      Pages 245-254

   5. Solving Multi-Loop Linkages by Iterating 2D Clippings

      • J. M. Porta, L. Ros, F. Thomas, C. Torras

      Pages 255-264

   6. Revisiting Plücker Coordinates in Vision-Based Control

      • Nicolas Andreff, Bernard Espiau

      Pages 265-274

   7. On Displacing a Screw about a Screw

      • I. A. Parkin, J. E. Baker

      Pages 275-280

   8. Algebraic Solution of Inverse Kinematics Revisited

      • W. Korb, W. Schlegel, J. P. Schlöder, H. G. Bock

      Pages 281-290

   9. A Variant of a 6-RKS Hunt-Type Parallel Manipulator to Easily Use Insensitivity Position Configurations

      • I. Zabalza, J. Ros, J. J. Gil, J. M. Pintor, J. M. Jiménez

      Pages 291-300

3. Kinematic Design

   1. Front Matter

      Pages 301-301

      PDF

   2. On the Kinematics of Parallel Mechanisms with Bi-Stable Polymer Actuators

      • Andreas Wingert, Matthew D. Lichter, Steven Dubowsky

      Pages 303-310

   3. The Kinetostatic Design of a Schönflies-Motion Generator

      • K. Al-Widyan, J. Angeles

      Pages 311-318

   4. Design of 2-Dof Parallel Mechanisms for Machining Applications

      • Félix Majou, Philippe Wenger, Damien Chablat

      Pages 319-328

This is the fifth book of the Kluwer's series Advances in Robot Kine­ matics. The 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, manufactur­ ing, 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 alge­ bra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathe­ matics related to robot theory, design, control and application. Each contribution in this book had been rigorously reviewed by two or three independent reviewers and 53 articles had been recommended for publication. We are happy to observe that Advances in Robot Kine­ matics has always attracted the most outstanding authors and has de­ veloped a remarkable scientific community in the area. Many important and original scientific results were for the first time reported and dis­ cussed in these books. All articles in this book were also reported at the eight international symposium on Advances in Robot Kinematics that was organised in June 2002 in Caldes de Malavella in Spain.

• actuator
• algorithms
• anthropomorph
• automation
• design
• kinematics
• motion planning
• multibody system
• parallel robot
• robot
• robotics
• rotation
• simulation

• Institute Jožef Stefan, Ljubljana, Slovenia

  J. Lenarčič

• Institute of Industrial Robotics (IRI), Barcelona, Spain

  F. Thomas

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