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Advances in Robot Kinematics and Computational Geometry : Diversity and Direction in Children's Literature Ser. - J. Lenarcic

Advances in Robot Kinematics and Computational Geometry

Diversity and Direction in Children's Literature Ser.

By: J. Lenarcic (Editor), Bahram Ravani (Editor)

Hardcover

Published: 30th June 1994
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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.

Introduction: Computational Advances in Robot Kinematicsp. 7
Workspace and Trajectory Analysisp. 17
Characterizing the Workspace of the Spherical Image of Cooperating Robotsp. 19
On the Kinematics of Nonsingular and Singular Posture Changing Manipulatorsp. 29
Determination of the Workspace Boundary of a General n-Revolute Manipulatorp. 39
Local Pictures for General Two-Parameter Planar Motionsp. 49
Limited Existence of Three-Dimensional Conformal Mapping in Robotsp. 59
Computational Geometry in Kinematicsp. 69
Geometric Analysis of Spatial Rigid-Body Dynamics with Multiple Friction Contactsp. 71
An Inverse Design Algorithm for a G[superscript 2] Interpolating Spline Motionp. 81
Geometry of Parallel-Jaw Gripper Grasps in the Planep. 91
Computational Geometry in the Synthesis of Skew Gear Teethp. 101
Kinematic Errors and Calibrationp. 109
A CAD Tool for Remote Calibration of Space Station Robotic Test Bedp. 111
Kinematic Calibration and the Product of Exponentials Formulap. 119
A Systematic Approach to Model Arbitrary Non Geometric Kinematic Errorsp. 129
Kinematics of Mobile Robotsp. 139
The Wheeled Actively Articulated Vehicle (WAAV): An Advanced Off-Road Mobility Conceptp. 141
Limitations of Kinematic Models for Wheeled Mobile Robotsp. 151
A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robotsp. 161
An Investigation of the Kinematic Control of a Six-Legged Walking Robotp. 171
Kinematic Performancep. 179
Kinematic Isotropy in 3R Positioning Manipulatorsp. 181
An Object Shape Dependent Kinematic Manipulability Measure for Path Planning and Shape Optimizationp. 191
Application of Dexterity Indices to Spatial Articulated Handsp. 201
Characterization of Kinematic and Static Performances of Robotic Geared Wristsp. 209
Kinematics in Controlp. 219
A Dynamically Consistent Strategy for Manipulator Control at Singularitiesp. 221
Third-Order Control of a Planar System Tracking Constant Curvature Pathsp. 229
Control of Manipulators With Flexible Joints and Links by Non Linear Inversion, Modal Damping and Joints Stiffeningp. 239
Inverse Kinematic Solution and Mixed Control Law for Redundant Robot in the Cartesian Spacep. 249
Force and Elasticity Analysisp. 259
An Inverse Force Analysis of a Spatial Three-Spring Systemp. 261
A Two-Arm Robot Can Be Stronger Than Two Arms - Experiments on Optimal Force Distribution in Two-Arm Robotp. 271
Minimum Joint Torque Configurations of Planar Multiple-Link Manipulatorp. 281
Inverse Kinematicsp. 289
Positional Inverse Kinematic Problems in T[superscript n]xR[superscript m] Solved in T[superscript 2(n+m)]p. 291
Explicit Modelling of General Task Spaces for Inverse Kinematicsp. 301
On the General Solution of the Inverse Kinematics of Six-Degrees-of-Freedom Manipulatorsp. 309
Coping with Joint Velocity Limits in First-Order Inverse Kinematics Algorithmsp. 319
Hybrid Position-Orientation Decoupling in Robot Manipulatorsp. 329
Dual Basis of Screw-Vectors for Inverse Kinestatic Problems in Roboticsp. 339
Kinematic Designp. 349
A Comparison of Two Minimally-Singular Articulated Arm-Subassembliesp. 351
Design and Multi Objective Optimization of a Linkage for a Haptic Interfacep. 359
Design of a Three-dof Tendon-driven Manipulator with the Characteristics of Equal Maximum Tensionsp. 369
Spherical 3 d.o.f. Geared Wrist with no Aligned Singularityp. 379
Kinematic Analysisp. 389
Is There a Most General Kinematic Chain?p. 391
Zero-Magnitude Screws in a 3-System of Finite Displacement Screwsp. 401
True Straight-line Linkages Having a Rectilinear Translating Barp. 411
On the Reduction of Parameters in Kinematic Equationsp. 421
Parallel Manipulatorsp. 427
Symbolic-Form Forward Kinematics of a 5-4 Fully-Parallel Manipulatorp. 429
Evaluation of the Errors When Solving the Direct Kinematics of Parallel Manipulators With Extra Sensorsp. 439
A Special Type of Singular Stewart-Gough Platformp. 449
A Smart Kinestatic Interactive Platformp. 459
Task and Motion Planningp. 465
Strategic Collision Avoidance of Two Robot Arms in the Same Work Cellp. 467
A Collision-Detection Scheme Based on Convex-Hulls Concept for Generating Kinematically Feasible Robot Trajectoriesp. 477
Collision-Avoidance Robot Path Planning Using Fully Cartesian Coordinatesp. 485
Planning Grasp Points and Base Locations of Single Robots and Cooperating Robot Systemsp. 495
Vision-Based Robot Path Planningp. 505
Author Indexp. 513
Table of Contents provided by Blackwell. All Rights Reserved.

ISBN: 9780792329831
ISBN-10: 079232983X
Series: Diversity and Direction in Children's Literature Ser.
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 514
Published: 30th June 1994
Publisher: Springer
Country of Publication: NL
Dimensions (cm): 25.4 x 17.15  x 2.54
Weight (kg): 0.9