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Advances in Robot Kinematics

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Beschreibung

Produktdetails

Einband

Taschenbuch

Erscheinungsdatum

14.10.2012

Abbildungen

V, 442 p.

Herausgeber

Jadran Lenarcic + weitere

Verlag

Springer Netherland

Seitenzahl

442

Maße (L/B/H)

24/16/2,5 cm

Gewicht

717 g

Auflage

Softcover reprint of the original 1st ed. 2000

Sprache

Englisch

ISBN

978-94-010-5803-2

Beschreibung

Produktdetails

Einband

Taschenbuch

Erscheinungsdatum

14.10.2012

Abbildungen

V, 442 p.

Herausgeber

Verlag

Springer Netherland

Seitenzahl

442

Maße (L/B/H)

24/16/2,5 cm

Gewicht

717 g

Auflage

Softcover reprint of the original 1st ed. 2000

Sprache

Englisch

ISBN

978-94-010-5803-2

Herstelleradresse

Springer-Verlag KG
Sachsenplatz 4-6
1201 Wien
AT

Email: ProductSafety@springernature.com

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  • Produktbild: Advances in Robot Kinematics
  • Produktbild: Advances in Robot Kinematics
  • 1. Methods in Kinematics.- Study’s kinematic mapping — A tool for motion design.- Kinestatic analysis of serial and parallel robot manipulators using Grassmann-Cayley algebra.- Unit quaternion and CRV: Complementary non-singular representations of rigid-body orientation.- Numerically stable methods for converting rotation matrices to Euler parameters.- Geometry of homokinematic spatial Cardan shafts by dual methods.- A concise Bézier clipping technique for solving inverse kinematics problems.- Geometric calibration of robots using multiple plane constraints.- 2. Kinematic Synthesis.- On isotropic sets of points in the plane. Application to the design of robot architectures.- Fourier methods for synthesis of coupled serial chain mechanisms.- Dimensional synthesis of spatial RR robots.- Approximate motion synthesis via parametric constraint manifold fitting.- Designing linkages with symmetric motions: The spherical case.- Kinematic synthesis of planar platforms with RPR, PRR, and RRR chains.- 3. Force Analysis.- Impact analysis as a design tool for the legs of mobile robots.- Vehicle wheel-ground contact angle estimation: with application to mobile robot traction control.- The Melbourne hand.- Active force closure for multiple objects.- SCALPP: A 6-dof robot with a non-spherical wrist for surgical applications.- A framework for multi-contact multi-body dynamic simulation and haptic display.- On the dynamics of a class of parallel robots.- 4. Kinematic Redundancy.- A simplified criterion for the repeatability of redundant manipulators.- An intuitive interface for nullspace teaching of redundant robots.- Methods for resolving velocity degeneracies of joint-redundant manipulators.- Novel kinematics for continuum robots.- The optimum quality index for a spatial redundant4–8 in-parallel manipulator.- Fuzzy inverse kinematics for underwater vehicle-manipulator systems.- 5. Parallel Mechanisms and Workspace Analysis.- Symmetries in workspace densities of discretely actuated manipulators.- Workspace characterization of planar three-legged platforms with holonomic higher pairs.- Estimating the controllable workspace of tendon-based Stewart platforms.- The chord method for the determination of non-convex workspaces of planar parallel platforms.- Elasto-kinematic design tools for parallel mechanisms.- Kinematic analysis of a new parallel machine tool: the orthoglide.- Optimal trajectory planning of a 5-axis machine-tool based on a 6-axis parallel manipulator.- 6. Analysis and Application of Parallel Mechanisms.- A 4-dof parallel mechanism simulating the movement of the human sternum-clavicle-scapula complex.- Parallel mechanisms applied to the human knee passive motion simulation.- A geometric model for cylinder-cylinder impact with application to vertebrae motion simulation.- Architecture singular parallel manipulators and their self-motions.- Architectural shakiness or architectural mobility of platforms.- Möbius mechanisms.- 7. Parallel Mechanisms and Screw Algebra.- Direct kinematics of the double-triangular manipulator: An exercise in geometric thinking.- A three-dof tripod for generating spherical rotation.- Kinematical analysis and simulation of a new parallel mechanism for robotics’ application.- Early studies in screw theory.- On deriving infinitesimal twists and velocity screws from finite displacement screws.- Synthesis by screw algebra of translating in-parallel actuated mechanisms.- Author Index.