Advances in Robot Kinematics

1. Front Matter

   Pages i-xiii

   PDF

2. Performance Evaluation

   1. Front Matter

      Pages 1-1

      PDF

   2. A Kinematic Calibration of in-Parallel Actuated Mechanisms Using Fourier Series (Evaluation Index for Determination of the Set of Measurement Paths)

      • Gang Shen, Yukio Takeda, Hiroaki Funabashi

      Pages 3-10

   3. Dynamic Performance Indices for 3-DOF Parallel Manipulators

      • R. Di Gregorio, V. Parenti-Castelli

      Pages 11-20

   4. Evaluation of a Cartesian Parallel Manipulator

      • Han Sung Kim, Lung-Wen Tsai

      Pages 21-28

   5. Rotation Symmetry Axes and the Quality Index in a 3D Octahedral Parallel Robot Manipulator System

      • T. K. Tanev, J. Rooney

      Pages 29-38

   6. Linearized Kinematics for State Estimation in Robotics

      • K. Parsa, J. Angeles, A. K. Misra

      Pages 39-48

   7. Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map

      • Narcís Gascons, Haijun Su, J. M. McCarthy

      Pages 49-56

   8. On the Invariance of Manipulability Indices

      • E. Staffetti, H. Bruyninckx, J. De Schutter

      Pages 57-66

   9. Influence of a Manipulability Index on Trajectory Planning for Robots in a Workspace with Obstacles

      • Francisco Valero, Vicente Mata, Francisco Rubio, Josep-Lluís Suñer

      Pages 67-76

3. Design and Control of Special-Type Mechanisms

   1. Front Matter

      Pages 77-77

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   2. Humanoid Humeral Pointing Kinematics

      • Jadran Lenarčič, Michael Stanišić, Eric Schearer

      Pages 79-88

   3. Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation

      • O. Khatib, O. Brock, K.-S. Chang, D. Ruspini, L. Sentis, F. Conti et al.

      Pages 89-98

   4. Particular Aspects in Designing Anthropomorphic Mechanisms

      • Cornel Brisan, Manfred Hiller

      Pages 99-106

   5. Uncertainty Model and Singularities of 3-2-1 Wire-Based Tracking Systems

      • Federico Thomas, Erika Ottaviano, Lluís Ros, Marco Ceccarelli

      Pages 107-116

   6. Tension Distribution in Tendon-Based Stewart Platforms

      • Richard Verhoeven, Manfred Hiller

      Pages 117-124

   7. Trajectory Tracking Control for a Cable Suspension Manipulator

      • T. Heyden, T. Maier, C. Woernle

      Pages 125-134

   8. Is Design of New Drugs a Challenge for Kinematics?

      • Kazem Kazerounian

      Pages 135-144

4. Redundancy, Singularity, and Self-Motion

   1. Front Matter

      Pages 145-145

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   2. A Redundant Spatial Stewart-Gough Platform with a Maximal Forward Kinematics Solution Set

      • Manfred Husty, Sonja Mielczarek, Manfred Hiller

      Pages 147-154

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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