Advances in Robot KinematicsJadran Lenarčič, Oussama Khatib Springer, 19 mai 2014 - 561 pages The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms. |
Table des matières
| 1 | |
| 11 | |
| 20 | |
A Tool for Control Analysis and Robot ControlBased Design | 31 |
5 Impact of Perturbation on Wire Tension Vector | 40 |
6 A Deployable Parallel Wrist with Simple Kinematics | 51 |
7 Geometric Derivation of 6R Linkages with Circular Translation | 59 |
8 Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation | 68 |
31 Recovering Dual Euler Parameters From FeatureBased Representation of Motion | 294 |
32 Kinematics and Dynamics of a 3underlineRPSR Parallel Robot Used as a PipeBending Machine | 307 |
33 Kinematic Synthesis of a Watt I SixBar Linkage for Body Guidance | 317 |
34 CollisionFree Workspace of 3RPR Planar Parallel Mechanism via Interval Analysis | 326 |
35 Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications | 335 |
36 Trifurcation of the Evolved SarrusMotion Linkage Based on Parametric Constraints | 345 |
37 The Kinematics of Containment | 355 |
38 The Dimensional Synthesis of 3RunderlinePR Parallel Mechanisms for a Prescribed SingularityFree ConstantOrientation Workspace | 365 |
9 Some Remarks on the RRR Linkage | 77 |
10 Force Capability Polytope of a 4underlineRRR Redundant Planar Parallel Manipulator | 87 |
A Jacobian Approach | 95 |
12 Nonsingular Change of Assembly Mode Without any Cusp | 104 |
13 The Influence of DiscreteTime Control on the KinematicoStatic Behavior of CableDriven Parallel Robot with Elastic Cables | 113 |
14 Derivatives of Screw Systems in BodyFixed Representation | 123 |
15 Sharp Linkages | 131 |
16 Solvable MultiFingered Hands for Exact Kinematic Synthesis | 139 |
17 Nonsingular Assembly Mode Changing Trajectories in the Workspace for the 3RunderlinePS Parallel Robot | 148 |
18 Influence of Spring Characteristics on the Behavior of Tensegrity Mechanisms | 161 |
19 Human Motion Kinematics Assessment Using Wearable Sensors | 170 |
20 Stiffness Matrix of 6DOF CableDriven Parallel Robots and Its Homogenization | 181 |
21 Human Motion Mapping to a Robot Arm with Redundancy Resolution | 193 |
22 Analysis of Geometrical Force Calculation Algorithms for CableDriven Parallel Robots with a Threefold Redundancy | 202 |
23 Kinetostatic Analysis of CableDriven Parallel Robots with Consideration of Sagging and Pulleys | 213 |
24 Direct and Inverse Second Order Kinematics for HyperRedundant Parallel Robots | 222 |
25 Kinematic Design of MiuraOriBased Folding Structures Using the Screw Axis of a Relative Displacement | 233 |
26 On the Limitations on the Lower and Upper Tensions for CableDriven Parallel Robots | 242 |
27 Characterization of the Subsystems in the General ThreeSystem of Screws | 253 |
28 Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators | 262 |
29 Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom | 273 |
30 Points Lines Screws and Planes in Dual Quaternions Kinematics | 285 |
39 Approximating Constrained Hand Paths Via Kinematic Synthesis with Contact Specifications | 374 |
40 Investigation of Error Propagation in Multibackbone Continuum Robots | 385 |
41 Kinematics of Expansive Planar Periodic Mechanisms | 395 |
42 From Inverse Kinematics to Optimal Control | 409 |
43 New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators | 419 |
44 Analysis of Constraint Equations and Their Singularities | 428 |
45 Shape Optimized Heliostats for Kinematic Sun Tracking | 437 |
46 Efficient Resolution of HyperRedundancy Using Splines | 447 |
47 Kinematic Modeling of an EAP Actuated Continuum Robot for Active Microendoscopy | 457 |
48 Kinematics Analysis and Singularity Loci of a 4UPU Parallel Manipulator | 466 |
49 On the Kinematics of an Innovative Parallel Robot for Brachytherapy | 475 |
50 Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint | 485 |
51 Conditions for Sub6th Order Screw Systems Composed of Three Planar Pencils of Lines | 496 |
52 Automatic Optimal Biped Walking as a MixedInteger Quadratic Program | 505 |
53 Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units | 517 |
54 Motion Capability of the 3RPS Cube Parallel Manipulator | 527 |
55 Coupling of Trajectories for HumanRobot Cooperative Tasks | 536 |
56 Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator | 545 |
| 555 | |
| 558 | |
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Expressions et termes fréquents
3-PPL-systems 6R linkage acceleration actuated Advances in Robot algebraic algorithm analysis angle applied assembly mode axes axis cable force cable-driven cable-driven parallel robots CDPR chapter computed configuration constraints coordinates corresponding curve defined denoted deployable derived displacement dual quaternions dynamics e-mail end-effector equations forward kinematics frame framework geometric heliostat IEEE International Conference International Publishing Switzerland intersection inverse kinematics Jacobian Khatib eds kinematic chain Lenarcic length linear Mach matrix Mech Minkowski sum mobile platform motion planning obtained optimal orientation parallel manipulators parallel mechanisms parameters planar plane pose position problem Publishing Switzerland 2014 quadric reconfigurable revolute joint rigid Robot Kinematics rotation screw systems screw theory segment sensors serial serial manipulator shown in Fig singularity singularity analysis solution space spatial spherical Springer International Publishing stiffness synthesis tensegrity tension topologies tractrix trajectory translation variables vector velocity wrench