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Advances in Robot Kinematics and Computational Geometry

By: Jadran LenarÄ?iÄ? (Editor), Bahram Ravani (Editor)

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Hardcover | 30 June 1994

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Hardcover
524 Pages

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25.4 x 17.15 x 2.54

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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.

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Published: 15th December 2010

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

Advances in Robot Kinematics and Computational Geometry

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