By Jadran Lenarcic, B. Roth
This booklet provides the latest learn advances within the idea, layout, keep watch over and alertness of robot platforms, that are meant for numerous reasons comparable to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep watch over, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. equipment used contain line geometry, quaternion algebra, screw algebra, and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom platforms.
The publication contains fifty three independently reviewed papers of researchers specialising in robotic kinematics. The participants are the main known scientists during this zone. The papers were subdivided into the next sections: tools in Kinematics, houses of Mechanisms, Humanoids and Biomedicine, research of Mechanisms, Workspace and function, layout of Mechanisms, movement Synthesis and Mobility.
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Extra info for Advances in Robot Kinematics: Mechanisms and Motion
Nz Abstract Checking the regularity of the inverse jacobian matrix of a parallel robot is an essential element for the safe use of this type of mechanism. Ideally such check should be made for all poses of the useful workspace of the robot or for any pose along a given trajectory and should take into account the uncertainties in the robot modeling and control. We propose various methods that facilitate this check. We exhibit especially a sufficient condition for the regularity that is directly related to the extreme poses that can be reached by the robot.
Kong and Gosselin, 2004, Kong and Gosselin, 2005, Gogu, 2005). In general, a platform of a robot of this kind can move in a subgroup of the Euclidean displacement group, or in a subset of a subgroup. In a different field of kinematics, various studies have been performed related to mechanisms in which variations in the position variables can 49 J. Lenarþiþ and B. ), Advances in Robot Kinematics, 49–56. © 2006 Springer. Printed in the Netherlands. P. Fanghella, C. Galletti and E. Giannotti 50 result in changes in the permanent finite mobility of the mechanisms.
Html, June, 12, 2001. , and Walter E. Applied Interval Analysis. SpringerVerlag, 2001. Kreinovich V. Optimal finite characterization of linear problems with inexact data. Technical Report CS-00-37, University of Texas at El Paso, 2000. Merlet J. -P. Singular configurations of parallel manipulators and Grassmann geometry. Int. J. of Robotics Research, 8(5):45–56, October 1989. Merlet J. -P. and Daney D. A formal-numerical approach to determine the presence of singularity within the workspace of a parallel robot.