The Resource Advances in robot kinematics : Analysis and design, Jadran Lenarčič, Philippe Wenger, editors

Advances in robot kinematics : Analysis and design, Jadran Lenarčič, Philippe Wenger, editors

Label
Advances in robot kinematics : Analysis and design
Title
Advances in robot kinematics
Title remainder
Analysis and design
Statement of responsibility
Jadran Lenarčič, Philippe Wenger, editors
Contributor
Subject
Genre
Language
eng
Summary
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 about 50 reviewed (by two independent reviewers) papers of researchers specialising in robot kinematics. The contributors are the most recognised scientists in this area. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility
Cataloging source
OH1
Dewey number
629.8/92
Illustrations
illustrations
Index
index present
LC call number
TJ211.4
LC item number
.A375 2008
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
Label
Advances in robot kinematics : Analysis and design, Jadran Lenarčič, Philippe Wenger, editors
Publication
Bibliography note
Includes bibliographical references and indexes
http://library.link/vocab/branchCode
  • net
Carrier category
online resource
Carrier category code
cr
Carrier MARC source
rdacarrier
Color
mixed
Content category
text
Content type code
txt
Content type MARC source
rdacontent
Contents
Cover -- Table of Contents -- Preface -- SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS -- A New Assessment of Singularities of Parallel Kinematic Chains -- Singularity Analysis through Static Analysis -- Constraint Singularities and the Structural Parameters of Parallel Robots -- Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator -- Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility -- SinguLab A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann Cayley Algebra -- Singularity Analysis of Limited-DOF Parallel Manipulators Using GrassmannCayley Algebra -- DESIGN OF ROBOTS AND MECHANISMS -- On the Design of Fully Constrained Parallel Cable-Driven Robots -- Synthesis of Part Orienting Devices for Spatial Assembly Tasks -- Minimum Energy Manipulator Design -- Synthesis and Analysis of a Constrained Spherical Parallel Manipulator -- A Nonholonomic 3-DOF Parallel Robot -- 4DOF Parallel Architecture for Laparoscopic -- Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control -- Extended Jacobian Inverse Kinematics and Approximation of Distributions -- A Screw Syzygy with Applications to Robot Singularity Computation -- Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators -- Robots Based on Assur Group A (3.5) -- Kinematics of Free-Floating Systems through Optimal Control Theory -- Genericity Conditions for Serial Manipulators -- Alternative Forms for Displacement Screws and Their Pitches -- MOTION PLANNING AND MOBILITY -- Time-Invariant Strategies in Coordination of Human Reaching -- Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms -- Optimization of a Test Trajectory for SCARA Systems -- Singularity Free Path Planning for Parallel Robots -- A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators -- Trajectory Planning of Parallel Manipulators for Global Performance Optimization -- Human Motion Reconstruction by Direct Control of Marker Trajectories -- PERFORMANCE AND PROPERTIES OF MECHANISMS -- New Self-Motions of Parallel Manipulators -- Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions -- A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator -- Transitions between Multiple Solutions of the Direct Kinematic Problem -- Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation -- Results on Planar Parallel Manipulators with Cylindrical Singularity Surface -- Stiffness Matrix of Compliant Parallel Mechanisms -- MEASURE AND CALIBRATION -- A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors -- Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field -- A Novel Point of View to Define the Distance between Two Rigid-Body Poses -- Parallel Robot Calibration by Working Mode Change -- Augmented Model of the 3-PRS Manipulator for Kinematic Calibration -- The Calibration of a Parallel Manipulator with Binary Actuation -- Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius -- KINEMATIC ANALYSIS AND WORKSPACE -- A Geometrical Characterization of Workspace Singularities in 3R Manipulators -- Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Sp
Control code
ocn242384399
Dimensions
unknown
Extent
1 online resource (xi, 472 pages)
Form of item
online
Isbn
9781402086007
Media category
computer
Media MARC source
rdamedia
Media type code
c
Other physical details
illustrations
http://library.link/vocab/ext/overdrive/overdriveId
137818
http://library.link/vocab/recordID
.b23751125
Specific material designation
remote
System control number
  • (OCoLC)242384399
  • pebco1402085990

Library Locations

    • Deakin University Library - Geelong Waurn Ponds CampusBorrow it
      75 Pigdons Road, Waurn Ponds, Victoria, 3216, AU
      -38.195656 144.304955
Processing Feedback ...