Advances in Robot KinematicsJadran Lenarčič, M.M. Stanisic Springer Science & Business Media, 30 juin 2000 - 442 pages 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 results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. All articles in the book were reported at the seventh international symposium on Advances in Robot Kinematics that was organised in June 2000 in the beautiful ancient Mediterranean town of Piran in Slovenia. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996), and Salzburg (1998). |
Table des matières
STUDYS KINEMATIC MAPPING A TOOL FOR MOTION DESIGN | 7 |
KINESTATIC ANALYSIS OF SERIAL AND PARALLEL ROBOT MANIPULATORS USING GRASSMANNCAYLEY ALGEBRA | 17 |
COMPLEMENTARY NONSINGULAR REPRESENTATIONS OF RIGIDBODY ORIENTATION | 27 |
NUMERICALLY STABLE METHODS FOR CONVERTING ROTATION MATRICES TO EULER PARAMETERS | 35 |
GEOMETRY OF HOMOKINEMATIC SPATIAL CARDAN SHAFTS BY DUAL METHODS | 43 |
A CONCISE BEZIER CLIPPING TECHNIQUE FOR SOLVING INVERSE KINEMATICS PROBLEMS | 53 |
GEOMETRIC CALIBRATION OF ROBOTS USING MULTIPLE PLANE CONSTRAINTS | 61 |
ON ISOTROPIC SETS OF POINTS IN THE PLANE APPLICATION TO THE DESIGN OF ROBOT ARCHITECTURES | 73 |
THE OPTIMUM QUALITY INDEX FOR A SPATIAL REDUNDANT 48 INPARALLEL MANIPULATOR | 239 |
FUZZY INVERSE KINEMATICS FOR UNDERWATER VEHICLEMANIPULATOR SYSTEMS | 249 |
SYMMETRIES IN WORKSPACE DENSITIES OF DISCRETELY ACTUATED MANIPULATORS | 259 |
WORKSPACE CHARACTERIZATION OF PLANAR THREE LEGGED PLATFORMS WITH HOLONOMIC HIGHER PAIRS | 267 |
ESTIMATING THE CONTROLLABLE WORKSPACE OF TENDONBASED STEWART PLATFORMS | 277 |
THE CHORD METHOD FOR THE DETERMINATION OF NONCONVEX WORKSPACES OF PLANAR PARALLEL PLATFORMS | 285 |
ELASTOKINEMATIC DESIGN TOOLS FOR PARALLEL MECHANISMS | 295 |
KINEMATIC ANALYSIS OF A NEW PARALLEL MACHINE TOOL | 305 |
FOURIER METHODS FOR SYNTHESIS OF COUPLED SERIAL CHAIN MECHANISMS | 83 |
DIMENSIONAL SYNTHESIS OF SPATIAL RR ROBOTS | 93 |
APPROXIMATE MOTION SYNTHESIS VIA PARAMETRIC CONSTRAINT MANIFOLD FITTING | 103 |
THE SPHERICAL CASE | 111 |
KINEMATIC SYNTHESIS OF PLANAR PLATFORMS WITH RPR PRR AND RRR CHAINS | 119 |
IMPACT ANALYSIS AS A DESIGN TOOL FOR THE LEGS OF MOBILE ROBOTS | 129 |
WITH APPLICATION TO MOBILE ROBOT TRACTION CONTROL | 137 |
THE MELBOURNE HAND | 147 |
ACTIVE FORCE CLOSURE FOR MULTIPLE OBJECTS | 155 |
A 6DOF ROBOT WITH A NONSPHERICAL WRIST FOR SURGICAL APPLICATIONS | 165 |
AND O KHATIB | 175 |
ON THE DYNAMICS OF A CLASS OF PARALLEL ROBOTS | 187 |
A SIMPLIFIED CRITERION FOR THE REPEATABILITY OF REDUNDANT MANIPULATORS | 199 |
AN INTUITIVE INTERFACE FOR NULLSPACE TEACHING OF REDUNDANT ROBOTS | 209 |
METHODS FOR RESOLVING VELOCITY DEGENERACIES OF JOINTREDUNDANT MANIPULATORS | 217 |
NOVEL KINEMATICS FOR CONTINUUM ROBOTS | 227 |
OPTIMAL TRAJECTORY PLANNING OF A 5AXIS MACHINETOOL BASED ON A 6AXIS PARALLEL MANIPULATOR | 315 |
A 4DOF PARALLEL MECHANISM SIMULATING THE MOVEMENT OF THE HUMAN STERNUMCLAVICLESCAPULA COMPLEX | 325 |
PARALLEL MECHANISMS APPLIED TO THE HUMAN KNEE PASSIVE MOTION SIMULATION | 333 |
A GEOMETRIC MODEL FOR CYLINDERCYLINDER IMPACT WITH APPLICATION TO VERTEBRAE MOTION SIMULATION | 345 |
ARCHITECTURE SINGULAR PARALLEL MANIPULATORS AND THEIR SELFMOTIONS | 355 |
ARCHITECTURAL SHAKINESS OR ARCHITECTURAL MOBILITY OF PLATFORMS | 365 |
MOBIUS MECHANISMS | 375 |
AN EXERCISE IN GEOMETRIC THINKING | 385 |
A THREEDOF TRIPOD FOR GENERATING SPHERICAL ROTATION | 395 |
KINEMATICAL ANALYSIS AND SIMULATION OF A NEW PARALLEL MECHANISM FOR ROBOTICS APPLICATION | 403 |
EARLY STUDIES IN SCREW THEORY | 411 |
ON DERIVING INFINITESIMAL TWISTS AND VELOCITY SCREWS FROM FINITE DISPLACEMENT SCREWS | 423 |
SYNTHESIS BY SCREW ALGEBRA OF TRANSLATING INPARALLEL ACTUATED MECHANISMS | 433 |
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Expressions et termes fréquents
2000 Kluwer Academic actuated Advances in Robot algebra algorithm analysis applied architecture axes axis base computed configuration constraint manifold contact angles contact point corresponding defined degrees of freedom determined displacement dual dynamic end-effector equations Figure finite fixed force frame function geometric given Grassmann-Cayley algebra haptic homogeneous coordinates Hooke joint Husty IEEE intersection inverse kinematics isotropic Jacobian matrix kind of AFC kinematic chains Kluwer Academic Publishers Lenarčič and M.M. linear linkage M.M. Stanišić eds method mobile motion object obtained optimization orientation pairs paper parallel manipulator parallel mechanism parameters planar plane platform Plücker coordinates position prismatic joint problem quality index quaternion redundant rigid bodies Robot Kinematics Robotics and Automation rotation screw screw axis serial manipulators simulation singular solution space spatial spherical Stanišić Stewart Platforms synthesis theorem trajectory values vector velocity wrench zero
Fréquemment cités
Page 419 - Note sur les propriétés générales du système de deux corps semblables entr'eux et placés d'une manière quelconque dans l'espace, et sur le déplacement fini ou infiniment petit d'un corps solide libre. (Eead Feb. 1831.) Bull. Univ. des Sciences (Férussac), t. xiv. pp. 321-326.