This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven…mehr
This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems.
The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.
PART 1: Theoretical Kinematics.- Möbius Linkages.- On Origami-Like Quasi-Mechanisms with an Antiprismatic Skeleton.- Line-Point Constraints and Robot Surgery.- On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains.- Extended Rotation Matrix for Kinematics of Pointing Mechanism.- A Linearization Method based on Lie Algebra for Pose Estimation in a Time Horizon.- Hyper-Multidual Algebra and Higher-Order Kinematics.- Geometry based Analysis of 3R Serial Robots.- Synthesis of Gripper Mechanisms Derived from Baranov Chains.- 6R Linkages with Hidden Singularities.- PART 2: Cable Driven Manipulators.- Best Operation Regions in a Planar Cable-Driven System.- Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot.- An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots.- A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots.- Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors.- Stacked Tensegrity Mechanism for Medical Application.- Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies.- PART 3: Computational Kinematics.- Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot.- A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform based on Perturbation Theory.- Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator.- Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints.- Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints.- PART 4: Continuum Mechanisms.- Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation.- Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic WorkingEnvironment.- Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion.- Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots.- A Gazebo Simulator for Continuum Parallel Robots.- Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines.- PART 5: Mechanism Synthesis.- General Procedure for Path Generation Synthesis based on Kinematic constraints.- Finding Straight Line Generators through the Approximate Synthesis of Symmetric Four-bar Coupler Curves.- A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem.- Classification of Mobilities - New insights on an old topic.- First and Second Order Centrodes of Slider-Crank Mechanisms by using Instantaneous Invariants.- Spherical 4R Linkage Algebraic vi-vj Input-output Equations.- PART 6: Spherical Mechanisms.- Kinematics of a Gear-Based Spherical Mechanism.- Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions.- Wriflex: Design and Kinematic Analysis of a Self-Aligning Parallel Wrist.- Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.- PART 7: Biomechanics.- Smooth Wrapping of Stretchable Thick Strands Over a Surface - the 2D Case.- Exploiting Reciprocity between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics.- Generation of Parametric Gait Patterns.- Parametrization of Compliant, Object-Level Controllers from Human Demonstrations.- PART 8: Linkages.- Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy.- The Distance Geometry of the Generalized Lobster's Arm.- Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot.- The Spatial Pantograph and its Mass Balance.- A New Family of Overconstrained P5R-Mechanisms.- PART 9: Motion Planning.- Trajectory Planner for Type II Singularities Avoidance based on Output Twist Screws.- Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators.- Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration.- An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators based on Navigation Functions.- Reactive Locomotion of a Hexapod for Navigation across Irregular Ground.- Trajectory Tracking by Fuzzy-based Super-twist Sliding Mode Control of a Parallel PnP Robot.
PART 1: Theoretical Kinematics.- Möbius Linkages.- On Origami-Like Quasi-Mechanisms with an Antiprismatic Skeleton.- Line-Point Constraints and Robot Surgery.- On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains.- Extended Rotation Matrix for Kinematics of Pointing Mechanism.- A Linearization Method based on Lie Algebra for Pose Estimation in a Time Horizon.- Hyper-Multidual Algebra and Higher-Order Kinematics.- Geometry based Analysis of 3R Serial Robots.- Synthesis of Gripper Mechanisms Derived from Baranov Chains.- 6R Linkages with Hidden Singularities.- PART 2: Cable Driven Manipulators.- Best Operation Regions in a Planar Cable-Driven System.- Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot.- An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots.- A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots.- Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors.- Stacked Tensegrity Mechanism for Medical Application.- Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies.- PART 3: Computational Kinematics.- Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot.- A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform based on Perturbation Theory.- Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator.- Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints.- Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints.- PART 4: Continuum Mechanisms.- Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation.- Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic WorkingEnvironment.- Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion.- Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots.- A Gazebo Simulator for Continuum Parallel Robots.- Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines.- PART 5: Mechanism Synthesis.- General Procedure for Path Generation Synthesis based on Kinematic constraints.- Finding Straight Line Generators through the Approximate Synthesis of Symmetric Four-bar Coupler Curves.- A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem.- Classification of Mobilities - New insights on an old topic.- First and Second Order Centrodes of Slider-Crank Mechanisms by using Instantaneous Invariants.- Spherical 4R Linkage Algebraic vi-vj Input-output Equations.- PART 6: Spherical Mechanisms.- Kinematics of a Gear-Based Spherical Mechanism.- Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions.- Wriflex: Design and Kinematic Analysis of a Self-Aligning Parallel Wrist.- Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.- PART 7: Biomechanics.- Smooth Wrapping of Stretchable Thick Strands Over a Surface - the 2D Case.- Exploiting Reciprocity between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics.- Generation of Parametric Gait Patterns.- Parametrization of Compliant, Object-Level Controllers from Human Demonstrations.- PART 8: Linkages.- Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy.- The Distance Geometry of the Generalized Lobster's Arm.- Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot.- The Spatial Pantograph and its Mass Balance.- A New Family of Overconstrained P5R-Mechanisms.- PART 9: Motion Planning.- Trajectory Planner for Type II Singularities Avoidance based on Output Twist Screws.- Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators.- Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration.- An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators based on Navigation Functions.- Reactive Locomotion of a Hexapod for Navigation across Irregular Ground.- Trajectory Tracking by Fuzzy-based Super-twist Sliding Mode Control of a Parallel PnP Robot.
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