By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)
This ebook offers the newest examine advances within the concept, layout, regulate and alertness of robotic structures, that are meant for numerous reasons equivalent to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep an eye on, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. equipment used comprise line geometry, quaternion algebra, screw algebra and linear algebra. those equipment are utilized to either parallel and serial multi-degree-of-freedom systems.
The publication contains forty eight independently reviewed papers of researchers specialising in robotic kinematics. The members are the main recognized scientists during this quarter. The papers were subdivided into the next sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and homes of mechanisms, degree and calibration, Kinematic research and workspace.
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Extra resources for Advances in Robot Kinematics: Analysis and Design
Parenti-Castelli, V. (Eds), Kluwer Academic Publishers, Dordrecht, pp. 401–410. , Shoham, M. (2003), Investigation of parallel manipulators using linear complex approximation, Transactions of the ASME Journal of Mechanical Design 125, 564–572. C. , Thomas F. (Eds), Kluwer Academic Publishers, Dordrecht, pp. 165–174. M. , USA, pp. 496–502. M. , Thomas F. (Eds), Advances in Robot Kinematics: Theory and Applications, Kluwer Academic Publishers, Dordrecht. uk Abstract. This paper ﬁrst deals with the forward kinematics (forward displacement analysis) of a class of 3-RPR planar parallel manipulator with congruent equilateral base and moving platform using an algebraic approach.
265–274. L. M. (1998), The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane, Mechanism and Machine Theory 33(7), 931–944. Dorst, L. and Mann, S. (2002), Geometric algebra: A computational framework for geometrical applications (Part 1), IEEE Computer Graphics and Applications 22(3), 24–31. K. Tanev Hestenes, D. (1999), New Foundations for Classical Mechanics, second edition, Kluwer Academic Publishers, Dordrecht, the Netherlands. , Li, H. and Rockwood, A.
Thomas F. (Eds), Advances in Robot Kinematics: Theory and Applications, Kluwer Academic Publishers, Dordrecht. uk Abstract. This paper ﬁrst deals with the forward kinematics (forward displacement analysis) of a class of 3-RPR planar parallel manipulator with congruent equilateral base and moving platform using an algebraic approach. Conditions on the inputs under which the manipulator has different number of solutions to the forward kinematics, including a double solution, two distinct solutions or inﬁnite solutions (self-motion), are identiﬁed.
Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)