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Advances in robot kinematic...
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 overconstrained. 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
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monografia Rebiun29204037 https://catalogo.rebiun.org/rebiun/record/Rebiun29204037 m o d cr cnu|||unuuu 140612s2014 sz a o 001 0 eng d 884013801 968914107 985049861 1005778792 1048135861 1058366346 1066690533 1086460080 1110818518 1112577904 1112836251 1152975498 1160086323 1162792238 9783319066981 electronic bk.) 3319066986 electronic bk.) 3319066978 print) 9783319066974 print) 9789401141208 9401141207 9783319066974 9789401058032 9401058032 10.1007/978-3-319-06698-1 doi AU@ 000055984034 DEBSZ 431721238 NLGGC 376332336 NZ1 15623728 NZ1 15743619 Springer GW5XE eng rda pn GW5XE N$T YDXCP COO CDX OCLCF UPM VT2 EBLCP E7B IDEBK DEBSZ OCLCQ DIBIB D6H YDX Z5A OCLCQ ESU OCLCQ IOG REB CEF OCLCQ U3W WYU YOU OCLCQ DCT ERF OCLCQ AJS OCLCQ OCLCO TJFM1 bicssc TEC037000 bisacsh TEC004000 bisacsh TEC 009000 bisacsh 629.8/92 23 Advances in robot kinematics edited by Jadran Lenarcic, Oussama Khatib Cham Springer 2014 Cham Cham Springer 1 online resource (xii, 561 pages) illustrations (some color) 1 online resource (xii, 561 pages) Text txt rdacontent computer c rdamedia online resource cr rdacarrier text file PDF Includes indexes Computing Cusps of 3R Robots Using Distance Geometry -- Kinematic Mapping of SE(4) and the Hypersphere Condition -- Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator -- The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design -- Impact of Perturbation on Wire Tension Vector -- A Deployable Parallel Wrist with Simple Kinematics -- Geometric Derivation of 6R Linkages with Circular Translation -- Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation -- Some Remarks on the RRR Linkage -- Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator -- Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach -- Non singular Change of Assembly Mode Without any Cusp -- The Influence of Discrete-Time Control on the Kinematic-Static -- Behavior of Cable-Driven Parallel Robot with Elastic Cables -- Derivatives of Screw Systems in Body-fixed Representation -- Sharp Linkages -- Solvable Multi-Fingered Hands for Exact Kinematic Synthesis -- Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot -- Influence of spring characteristics on the behavior of Tensegrity Mechanisms -- Human Motion Kinematics Assessment Using Wearable Sensors -- Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization -- Human Motion Mapping to a Robot Arm with Redundancy Resolution -- Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy -- Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys -- Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots -- Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement -- On the Limitations on the Lower and Upper Tensions for Cable-driven Parallel Robots -- Characterization of the Subsystems in the General Three-System of Screws -- Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators -- Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom -- Points, Lines, Screws and Planes in Dual Quaternions Kinematic -- Recovering Dual Euler Parameters from Feature-based Representation of Motion -- Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine -- Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance -- Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis -- Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications -- Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints -- The Kinematics of Containment -- The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Approximating Constrained Hand Paths via Kinematic Synthesis with Contact Specifications -- Investigation of Error Propagation in Multi-Backbone Continuum Robots -- Kinematics of Expansive Planar Periodic Mechanisms -- From Inverse Kinematics to Optimal Control -- New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators -- Analysis of Constraint Equations and Their Singularities -- Shape Optimized Heliostats for Kinematic Sun Tracking -- Efficient Resolution of Hyper-Redundancy Using Splines -- Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy -- Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator -- On the Kinematics of an Innovative Parallel Robot for Brachytherapy -- Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint -- Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines -- Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program -- Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units -- Motion Capability of the 3-RPS Cube Parallel Manipulator -- Coupling of Trajectories for Human-Robot Cooperative Tasks -- Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator 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 overconstrained. 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 Robots- Kinematics TECHNOLOGY & ENGINEERING- Engineering (General) Robots- Kinematics. Electronic books Ebook Lenarcic, J. Jadran) editor Khatib, Oussama editor Printed edition 9783319066974