This book presents 53 independently reviewed papers which embody the latest 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. 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 contributors are recognised authorities in robot kinematics.

Résumé

This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the theory and practice of robot kinematics and treat the motion of robots, in particular robot manipulators, without regard to how this motion is produced or c- trolled. Each book of Advances in Robot Kinematics reports the most recent research projects and presents many new discoveries. The issues addressed in this book are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, d- terity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quat- nion algebra, screw algebra, and linear algebra. These methods are - plied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers and students, in ?elds of engineering and mathematics related to robot theory, design, control and application. All the contributions had been rigorously reviewed by independent reviewers and ?fty three articles had been recommended for publi- tion. They were introduced in seven chapters. The authors discussed theirresultsatthetenthinternationalsymposiumonAdvancesinRobot Kinematics which was held in June 2006 in Ljubljana, Slovenia. The symposium was organized by Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science.

Indexed in Conference Proceedings Citation Index- Science (CPCI-S

Contenu

Methods in Kinematics.- Wire-based tracking using mutual information.- The control number as index for Stewart Gough platforms.- Determining the 3×3 rotation matrices that satisfy three linear equations in the direction cosines.- A polar decomposition based displacement metric for a finite region of SE(n).- On the regularity of the inverse Jacobian of parallel robots.- Parallel robots that change their group of motion.- Approximating planar, morphing curves with rigid-body linkages.- On the velocity analysis of non-parallel closed chain mechanisms.- Properties of Mechanisms.- Kinematics of micro planar parallel robot comprising large joint clearances.- Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement.- Large kinematic error propagation in revolute manipulators.- A framework for the analysis, synthesis and optimization of parallel kinematic machines.- Searching for undiscovered planar straight-line linkages.- Type synthesis of three-DOF up-equivalent parallel manipulators using a virtual-chain approach.- The multiple virtual end-effectors approach for human-robot interaction.- Humanoids and Biomedicine.- Balance and control of human inspired jumping robot.- A convex optimization algorithm for stabilizing whole-body motions of humanoid robots.- Parallel mechanisms for knee orthoses with selective recovery action.- Modeling time invariance in human arm motion coordination.- Assessment of finger joint angles and calibration of instrumental glove.- All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications.- On the inverse kinematics of a fragment of protein backbone.- Predicting reaching postures using a kinematically constrained shoulder model.- Analysis of Mechanisms.- Self motions of special 3-RPR planar parallel robot.- Graphical singularity analysis of 3-DOF planar parallel manipulators.- Direct singularity closeness indexes for the hexa parallel robot.- Stewart-Gough platforms with simplesingularity surface.- A robust model for 3D tracking in object-oriented multibody systems based on singularity-free Frenet framing.- Singularity of a class of Gough-Stewart platforms with three concurrent joints.- Singularity analysis of a 4-DOF parallel manipulator using geometric algebra.- A geometrical interpretation of 3-3 mechanism singularities.- Workspace and Performance.- Quantitative dexterous workspace comparisons.- Level-set method for workspace analysis of serial manipulators.- Determination of the wrench-closure workspace of 6-DOF parallel cable-driven mechanisms.- Fully-isotropic hexapods.- A new calibration stategy for a class of parallel mechanisms.- The dynamic optimization of PKM.- On non-assembly in the optimal synthesis of serial manipulators performing prescribed tasks.- Design of Mechanisms.- Complexity analysis for the conceptual design of robotic architecture.- Robust three-dimensional non-contacting angular motion sensor.- Synthesis of spherical four-bar mechanisms using spherical kinematic mapping.- Synthesis of 2-DOF spherical fully parallel mechanisms.- Constraint synthesis for planar n-R robots.- Calculating force distributions for redundantly actuated tendon-based Stewart platforms.- A study of minimal sensor topologies for space robots.- Kinematics and optimization of the translating 3-CCR/3-RCC parallel mechanisms.- Motion Synthesis and Mobility.- Pseudo-planar motion generators.- On PKM with articulated travelling-plate and large tilting angles.- Mobility and connectivity in multiloop linkages.- Jacobian inverse kinematics algorithms with variable steplength for mobile manipulators.- Kinematics and grasping using conformal geometric algebra.- Application of kinematics tools in the study of internal mobility of protein molecules.- Motion pattern singularity in lower mobility parallel manipulators.