The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and…mehr
The articles of this book were reported and discussed at the fifth international symposium on Advances in Robot Kinematics. As is known, the first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for the Theory of Machinesand Mechanisms, IFToMM. In this period, Advances in Robot Kinematics has been able to attract the most outstanding authors in the area and also to create an optimum combination of a scientific pragmatism and a friendly atmosphere. Hence, it has managed to survive in a strong competition of many international conferences and meetings. In the most ancient way, robot kinematics is regarded as an application of the kinematics of rigid hodies. However, there are topics and problems that are typical for robot kinematics that cannot easily be found in any other scientific field. It is our belief that the initiative of Advances in Robot Kinematics has contributed to develop a remarkable scientific community. The present book is of interest to researchers, doctoral students and teachers, engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots.
1. Plenary.- The direct kinematics of the general 6-5 Stewart-Gough Mechanism.- The kinematic sensitivities of redundant robotic manipulators.- 2. Control and optimisation.- Modular decomposition for optimal dynamic design of redundant macro/mini manipulators.- Singularity-robust second-order kinematic control of robot manipulators.- Dynamics and control of elastic joint robots on a group configurational manifold.- Simulation of grasping with a flexible-joint robot.- On-line collision-recognition and collision-avoidance control for redundant articulated robots.- Gradient-based kinematic control of nonredundant serial robots in special configurations.- 3. Performance.- Kinematics of a three degree-of-freedom motion platform for a low-cost driving simulator.- Kinematic manipulability of closed chains.- Singularity analysis and categorisation of generic 3-R regional manipulators.- Coordinate-free formulation of the Cartesian stiffness matrix.- Stability analysis of compliant mechanisms.- Acceleration analysis, via screw theory, and characterization of singularities of closed chains.- 4. Workspace and trajectory analysis.- Computer aided design of robot trajectories using rational motions.- Optimum design of closed kinematic chains in the presence of obstacles.- Synthesis of discretely actuated manipulator workspaces via harmonic analysis.- Optimal location of path following tasks in the workspace of a manipulator using genetic algorithms.- Feasible workspace regions for a two-revolute manipulator design.- Determination of the workspace of 4R manipulator: basic case and particular cases.- 5. Modelling and computation.- A discussion on metric relations in spatial kinematics: Implicit and explicit formulas and functional dependence.- Tongue model for characterizing vocaltract kinematics.- A new and efficient method for symbolical calculation of the Jacobian matrix.- Quaternion based force-torque analysis of open serial kinematic structures.- Dual vectors of the kinematic and the dynamic kind in matrices.- Dual numbers, Lie algebra and 6R inverse kinematics.- Backbone curves to approximate minimum joint torque configurations of planar multiple-link manipulators in presence of obstacles.- 6. Analysis and simulation.- Simulating the motion of a nonholonomic robot and its trailer.- Screwball: a user interface for specifying screws.- Simulation of flexible manipulators based on their Newton-Euler model.- Modeling of a braced robot with four-bar mechanism.- A remarkable class of overconstrained linkages.- How to extend Robert's law for eccentrically driven, inverted slider-cranks.- 7. Performance of parallel mechanisms.- On self-motions of a class of parallel manipulators.- On the design of parallel manipulators for a prescribed workspace: a planar quaternion approach.- Kinematotropic linkages.- The interest of redundancy for the design of a spherical parallel manipulator.- Forward kinematics and mobility criteria of one type of symmetric Stewart-Gough platforms.- Singularity analysis and representation of spatial six degree of freedom parallel manipulators.- 8. Analysis of parallel mechanisms.- Kinematics of a three-dof platform with three extensible limbs.- A class of fully parallel manipulators with closed-form forward position kinematics.- Kinematic mapping of 3-legged planar platforms with holonomic higher pairs.- A forward analysis of a two degree of freedom parallel manipulator.- Closed plane mechanisms as a basis of parallel manipulators.- A 3-D sensor for parallel robot calibration. A parameter perturbation analysis.- AuthorIndex.
1. Plenary.- The direct kinematics of the general 6-5 Stewart-Gough Mechanism.- The kinematic sensitivities of redundant robotic manipulators.- 2. Control and optimisation.- Modular decomposition for optimal dynamic design of redundant macro/mini manipulators.- Singularity-robust second-order kinematic control of robot manipulators.- Dynamics and control of elastic joint robots on a group configurational manifold.- Simulation of grasping with a flexible-joint robot.- On-line collision-recognition and collision-avoidance control for redundant articulated robots.- Gradient-based kinematic control of nonredundant serial robots in special configurations.- 3. Performance.- Kinematics of a three degree-of-freedom motion platform for a low-cost driving simulator.- Kinematic manipulability of closed chains.- Singularity analysis and categorisation of generic 3-R regional manipulators.- Coordinate-free formulation of the Cartesian stiffness matrix.- Stability analysis of compliant mechanisms.- Acceleration analysis, via screw theory, and characterization of singularities of closed chains.- 4. Workspace and trajectory analysis.- Computer aided design of robot trajectories using rational motions.- Optimum design of closed kinematic chains in the presence of obstacles.- Synthesis of discretely actuated manipulator workspaces via harmonic analysis.- Optimal location of path following tasks in the workspace of a manipulator using genetic algorithms.- Feasible workspace regions for a two-revolute manipulator design.- Determination of the workspace of 4R manipulator: basic case and particular cases.- 5. Modelling and computation.- A discussion on metric relations in spatial kinematics: Implicit and explicit formulas and functional dependence.- Tongue model for characterizing vocaltract kinematics.- A new and efficient method for symbolical calculation of the Jacobian matrix.- Quaternion based force-torque analysis of open serial kinematic structures.- Dual vectors of the kinematic and the dynamic kind in matrices.- Dual numbers, Lie algebra and 6R inverse kinematics.- Backbone curves to approximate minimum joint torque configurations of planar multiple-link manipulators in presence of obstacles.- 6. Analysis and simulation.- Simulating the motion of a nonholonomic robot and its trailer.- Screwball: a user interface for specifying screws.- Simulation of flexible manipulators based on their Newton-Euler model.- Modeling of a braced robot with four-bar mechanism.- A remarkable class of overconstrained linkages.- How to extend Robert's law for eccentrically driven, inverted slider-cranks.- 7. Performance of parallel mechanisms.- On self-motions of a class of parallel manipulators.- On the design of parallel manipulators for a prescribed workspace: a planar quaternion approach.- Kinematotropic linkages.- The interest of redundancy for the design of a spherical parallel manipulator.- Forward kinematics and mobility criteria of one type of symmetric Stewart-Gough platforms.- Singularity analysis and representation of spatial six degree of freedom parallel manipulators.- 8. Analysis of parallel mechanisms.- Kinematics of a three-dof platform with three extensible limbs.- A class of fully parallel manipulators with closed-form forward position kinematics.- Kinematic mapping of 3-legged planar platforms with holonomic higher pairs.- A forward analysis of a two degree of freedom parallel manipulator.- Closed plane mechanisms as a basis of parallel manipulators.- A 3-D sensor for parallel robot calibration. A parameter perturbation analysis.- AuthorIndex.
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