Advances in robot kinematics: analysis and design
Gespeichert in:
| Weitere Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
[Dordrecht]
Springer
2008
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XI, 472 S. Ill., graph. Darst. |
| ISBN: | 9781402085994 |
Internformat
MARC
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| 245 | 1 | 0 | |a Advances in robot kinematics |b analysis and design |c Jadran Lenarčič ... ed. |
| 264 | 1 | |a [Dordrecht] |b Springer |c 2008 | |
| 300 | |a XI, 472 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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Datensatz im Suchindex
| _version_ | 1804138822975356928 |
|---|---|
| adam_text | Table
of
Contents
Preface
xi
SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS
A New Assessment of Singularities of Parallel Kinematic Chains
3
Michele Conconi
and Marco Carricato
Singularity Analysis through Static Analysis
13
J. Hubert and J. -P. Merlet
Constraint Singularities and the Structural Parameters of Parallel Robots
21
Grigore
Gogu
Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel
Manipulator
29
Xianwen Kong
Geometric Algebra Approach to Singularity of Parallel Manipulators with
Limited Mobility
39
Tanio
К.
Tanév
SinguLab
-
A Graphical User Interface for the Singularity Analysis of
Parallel Robots Based on Grassmann-Cayley Algebra
49
Patricia
Ben-Horin, Moshe Shoham, Stephane
Caro,
Damien Chablat
and Philippe Wenger
Singularity Analysis of Limited-DOF Parallel Manipulators Using
Grassmann-Cayley Algebra
59
Daniel
Kanaan,
Philippe Wenger and Damien Chablat
DESIGN OF ROBOTS AND MECHANISMS
On the Design of Fully Constrained Parallel Cable-Driven Robots
71
M. Gouttefarde, S.
Krut,
О.
Company,
F.
Pierot
and
N.
Ramdani
vi
Table of Contents
Synthesis of Part Orienting Devices for Spatial Assembly Tasks
79
P. Larochelle
Minimum Energy Manipulator Design
89
A. Rojas Salgado
and
Y. Ledezman Rubio
Synthesis and Analysis of a Constrained Spherical Parallel Manipulator
101
G.S. Soh andJ.M. McCarthy
A Nonholonomic 3-DOF Parallel Robot
111
Patricia Ben-Horin and
Federico
Thomas
4DOF Parallel Architecture for
Laparoscopie
Surgery
119
Mohammad Aamir
Khan, Matteo Zoppi
and Rezio Molfino
Rapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling
and Control
127
Ch. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux
Extended Jacobian Inverse Kinematics and Approximation of Distributions
137
Mariusz Janiak
and
Krzysztof
Tchorí
A Screw Syzygy with Applications to Robot Singularity Computation
147
J.M.
Selig
and Peter Done Ian
Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators
155
Krzysztof Tchoń
and
Łukasz Malek
Robots Based on
Assur
Group A
(3.5) 165
Karl Wohlart
Kinematics of Free-Floating Systems through Optimal Control Theory
177
G.LeVey
Genericity Conditions for Serial Manipulators
185
Peter Donelan
Alternative Forms for Displacement Screws and Their Pitches
193
I.A.
Parkin
MOTION PLANNING AND MOBILITY
Time-Invariant Strategies in Coordination of Human Reaching
205
Satyajit Ambike and James P.
Schmiedeier
Table
of Contents
vii
Mobility and Higher Order Local Analysis of the Configuration Space of
Single-Loop Mechanisms
215
A.
Müller
and JM. Rico
Optimization of a Test Trajectory for
SCARA
Systems
225
J.-F.
Gauthier,
J.
Angeles and S. Nokleby
Singularity Free Path Planning for Parallel Robots
235
Samir Lahouar, Said Zeghloul and Lotfi Romdhane
A Comparison between Two Motion Planning Strategies for Kinematically
Redundant Parallel Manipulators
243
J.A.
Carretero,
I. Ebrahimi and R. Boudreau
Trajectory Planning of Parallel Manipulators for Global Performance
Optimization
253
Ofelia
G.
Alba-Gómez,
J-
Alfonso
Pamanes and
Philippe
Wenger
Human Motion Reconstruction by Direct Control of Marker Trajectories
263
Emel
Demircan, Luis
Sentis,
Vincent
De Sapio
and Oussama Khatib
PERFORMANCE AND PROPERTIES OF MECHANISMS
New Self-Motions of Parallel Manipulators
275
Adolf
Karger
Exact Envelope Computation for Moving Surfaces with Quadratic Support
Functions
283
Margot
Rabi,
Bert Jüttler and
Laureano
Gonzalez-Vega
A
Compound-Structure Frame for Improving the Performance of a
Dielectric Elastomer Actuator
291
Giovanni Berselli,
Rocco Vertechy, Gabriele
Vassura
and
Vincenzo Parenti Castelli
Transitions between
Multiple Solutions
of the Direct Kinematic Problem
301
E. Macho, O. Altuzarra,
С
Pinto and A. Hernandez
Kinetostatic Performance of a Planar Parallel Mechanism with Variable
Actuation
311
N.
Rakotomanga, D. Chablat and S.
Caro
Results on Planar Parallel Manipulators with Cylindrical Singularity
Surface
321
G. Nawratil
viii Table of
Contents
Stiffness Matrix of Compliant Parallel Mechanisms
331
C. Quennouelle and CM.
Gosselin
MEASURE AND CALIBRATION
A Pair of Measures of Rotational Error for Axisymmetric Robot
End-Effectors
345
Sébastien Briot
and Ilian A. Bonev
Angular-Velocity Estimation from the Centripetal Component of the
Rigid-Body Acceleration Field
353
Philippe
Cardou
and Jorge Angeles
A Novel Point of View to Define the Distance between Two Rigid-Body
Poses
361
Raffaele Di
Gregorio
Parallel Robot Calibration by Working Mode Change
371
P. Last,
С
Budde, D.
Schütz,
J. Hesselbach
and A. Raatz
Augmented Model of the 3-PRS Manipulator for Kinematic Calibration
381
Steven M. O Brien and
Juan A. Carretero
The Calibration of a Parallel Manipulator with Binary Actuation
391
Jean-Sébastien Plante
and Steven Dubowsky
Stability Measure of Postural Dynamic Equilibrium Based on Residual
Radius
399
Sébastien Barthélémy
and Philippe Bidaud
KINEMATIC ANALYSIS AND WORKSPACE
A Geometrical Characterization of Workspace Singularities in 3R
Manipulators
411
M. Husty, E. Ottaviano and M. Ceccarelli
Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed
Springs
419
Carl D. Crane
III, Jahan Bayat, Vishesh Vikas
and Rodney Roberts
Inverse Kinematics of Robot Manipulators with Multiple Moving Control
Points
429
Agostino
De Santis
and Bruno
Siciliano
Table
of Contents
ix
On the
Delassus
Parallelogram
439
Chung-Ching Lee and Jacques
M. Hervé
Forward Kinematics and Workspace Determination of a Wire Robot for
Industrial Applications
451
Andreas Pott
Kinematic Modeling and Workspace Generation for a New
Paraleli
Robot
Used in Minimally Invasive Surgery
459
Doina Pisla,
Nicolae Plitea and
Calin
Váida
Author Index
469
Subject Index
471
|
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| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| isbn | 9781402085994 |
| language | English |
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| spelling | Advances in robot kinematics analysis and design Jadran Lenarčič ... ed. [Dordrecht] Springer 2008 XI, 472 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Robots Kinematics Congresses Kinematik (DE-588)4030664-1 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf (DE-588)4143413-4 Aufsatzsammlung gnd-content (DE-588)1071861417 Konferenzschrift gnd-content Kinematik (DE-588)4030664-1 s Robotik (DE-588)4261462-4 s DE-604 Lenarc̆ic̆, Jadran edt Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017317888&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Advances in robot kinematics analysis and design Robots Kinematics Congresses Kinematik (DE-588)4030664-1 gnd Robotik (DE-588)4261462-4 gnd |
| subject_GND | (DE-588)4030664-1 (DE-588)4261462-4 (DE-588)4143413-4 (DE-588)1071861417 |
| title | Advances in robot kinematics analysis and design |
| title_auth | Advances in robot kinematics analysis and design |
| title_exact_search | Advances in robot kinematics analysis and design |
| title_full | Advances in robot kinematics analysis and design Jadran Lenarčič ... ed. |
| title_fullStr | Advances in robot kinematics analysis and design Jadran Lenarčič ... ed. |
| title_full_unstemmed | Advances in robot kinematics analysis and design Jadran Lenarčič ... ed. |
| title_short | Advances in robot kinematics |
| title_sort | advances in robot kinematics analysis and design |
| title_sub | analysis and design |
| topic | Robots Kinematics Congresses Kinematik (DE-588)4030664-1 gnd Robotik (DE-588)4261462-4 gnd |
| topic_facet | Robots Kinematics Congresses Kinematik Robotik Aufsatzsammlung Konferenzschrift |
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