In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports 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, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. 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. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy.
Indexed in Conference Proceedings Citation Index- Science (CPCI-S)
Methods in Kinematics.- A fast and accurate method for the singular value decomposition of 3×3 matrices.- SVD and PD based projection metrics on SE(n).- Choice of independent coordinates in modular kinematics.- Distance constraints solved geometrically.- Kinematic mapping application to approximate type and dimension synthesis of planar mechanisms.- On the ruled surface generated by a linear combination screw.- Lie-group first-order operations in rigid-body kinematics.- First-order intrinsic properties of the rotation parameters SO(3), quaternion and rotation vector.- Properties of Mechanisms.- Time-invariant properties of planar motions.- Projective properties of parallel manipulators.- Screw spaces and connectivities in multiloop linkages.- Kinematics equations of a class of 4DOF parallel wrists.- Kinematic structure of a parallel robot for MEMS fabrication.- Isolating self-motion manifolds on a playstation(TM).- Mobility of spatial multi-loop and mixed linkages.- Humanoids and Biomedical Applications.- Human-like motion from physiologically-based potential energies.- Role of biarticular muscles in human jump.- Human hand movement kinematics and kinesthesia.- Kinematic synthesis of avatar skeletons from visual data.- Kinematics and modelling of a system for robotic surgery.- Manipulability and accuracy measures for a medical robot in minimally invasive surgery.- Helix-Helix packing in proteins: The kinematics of interacting line segments.- Workspace and Isotropy.- Analysis of the influence of wires interference on the workspace of wire robots.- Workspace classification of 3R orthogonal manipulators.- Workspace classification of Stewart-Gough manipulators with planar base and platform.- The Orthoglide: Kinematics and workspace analysis.- A Cartesian representation forthe boundary workspace of 3R manipulators.- Kinematic isotropy and dynamic performances in translational parallel manipulators.- Fully-isotropic T3R1-type parallel manipulators.- Analysis of Mechanisms.- The singular planes of the articulated arm subassembly.- Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot.- A force based approach to error analysis of parallel kinematic mechanisms.- Analysis and optimization of a planar tendon-driven parallel manipulator.- Closed-form equilibrium analysis of a planar tensegrity structure.- Singularities and mobility of a class of 4-DOF mechanisms.- Kinematics and dynamics of a 6-RUS Hunt-type parallel manipulator by using natural coordinates.- Design of Mechanisms.- The robust design of Schönflies-motion generators.- Polyhedral Zig-Zag linkages.- Variational motion design.- New parallel wrists: Special limbs with motion dependency.- The design of a novel pitch-roll wrist with spherical cam-roller pairs.- Design of a hybrid manipulator for painting highway signage.- An optimal kinematic design for a highly dextrous MIS instrument.- Achievable Cartesian stiffness with passively compliant, uncoupled joints.- Motion Synthesis and Mobility.- Movement primitives and principal component analysis.- Parallel mechanisms with pseudo-planar motion generators.- Multi-agent manipulator control and moving obstacle avoidance.- Kinematics of a parallel mechanism for the generation of spherical motions.- Control of a maneuvering mobile robot by transverse functions.- Acceleration-driven kinematics of mobile manipulators: An endogenous configuration space approach.- Dynamic dexterity and isotropy of mobile robots: An endogenous configuration space approach.- Author Index.
