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This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions,…mehr
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.
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Inhaltsangabe
Preface.- The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles.- On the Twist Recovery Methodologies after Failure; Leila Notash.- A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy.- Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil.- Asymptotic Singularities of Planar Parallel 3-R Manipulators; Michel Coste.- Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio.- Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland.- Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho'n and Mariusz Janiak.- Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points; Andreas Muller and Maurizio Ruggiu.- Managing the Redundancy of $N-1$ Wire-Driven Parallel Robots; J-P. Merlet.- Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano.- On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé.- Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa.- Motion Planning for Parallel Robots with Non-Holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak, Patrick Grosch and Federico Thomas.- Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai.- Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schutz, R.J. Ellwood, A. Raatz and J. Hesselbach.-Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf.- Robotic Fish Kinectics Design Based on aFuzzy Control; Pei-Jun Lee and Wen-June Wang.- Persistent Screw Systems of Dimension Four; Marco Carricato.- Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough--Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas.- Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra.- Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson.- Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara.- Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert J ttler.- Influence of Pulley Kinematics on Cable-Driven Parallel Robots 197; Andreas Pott.- Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert J?ttler and Tino Schulz.- Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai.- Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Bond Theory and Closed 5R Linkages; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier.- Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros.- Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu.- Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder.- Auto CalibrationMethod for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott.-Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez.- Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle.- Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig.- Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib.- Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder.- Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes.- Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu.- Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea.- Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger.- Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma.- Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger.- Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter.- The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari.- A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff.- Velocity Level Kinematic Analysis of Serial $n$A-Chains; James D. Robinson and M. John D. Hayes.- Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and SandipanBandyopadhyay.- Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar.- Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro.- Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky.- Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park.- Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle.- On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli.- Name Index.- Subject Index.
Preface.- The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles.- On the Twist Recovery Methodologies after Failure; Leila Notash.- A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy.- Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil.- Asymptotic Singularities of Planar Parallel 3-R Manipulators; Michel Coste.- Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio.- Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland.- Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho'n and Mariusz Janiak.- Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points; Andreas Muller and Maurizio Ruggiu.- Managing the Redundancy of $N-1$ Wire-Driven Parallel Robots; J-P. Merlet.- Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano.- On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé.- Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa.- Motion Planning for Parallel Robots with Non-Holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak, Patrick Grosch and Federico Thomas.- Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai.- Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schutz, R.J. Ellwood, A. Raatz and J. Hesselbach.-Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf.- Robotic Fish Kinectics Design Based on aFuzzy Control; Pei-Jun Lee and Wen-June Wang.- Persistent Screw Systems of Dimension Four; Marco Carricato.- Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough--Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas.- Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra.- Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson.- Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara.- Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert J ttler.- Influence of Pulley Kinematics on Cable-Driven Parallel Robots 197; Andreas Pott.- Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert J?ttler and Tino Schulz.- Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai.- Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Bond Theory and Closed 5R Linkages; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier.- Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros.- Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu.- Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder.- Auto CalibrationMethod for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott.-Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez.- Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle.- Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig.- Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib.- Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder.- Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes.- Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu.- Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea.- Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger.- Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma.- Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger.- Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter.- The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari.- A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff.- Velocity Level Kinematic Analysis of Serial $n$A-Chains; James D. Robinson and M. John D. Hayes.- Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and SandipanBandyopadhyay.- Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar.- Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro.- Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky.- Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park.- Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle.- On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli.- Name Index.- Subject Index.
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