Advances in Robot Kinematics

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.