Advances in Robot Kinematics [Paperback]

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to over constrained.

The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

Computing Cusps of 3R Robots Using Distance Geometry

Kinematic Mapping of SE(4) and the Hypersphere Condition

Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator

The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design

Impact of Perturbation on Wire Tension Vector

A Deployable Parallel Wrist with Simple Kinematics

Geometric Derivation of 6R Linkages with Circular Translation

Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation

Some Remarks on the RRR Linkage

Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator

Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach

Non singular Change of Assembly Mode Without any Cusp

The Influence of Discrete-Time Control on the Kinematic-Static
Behavior of Cable-Driven Parallel Robot with Elastic Cables

Derivatives of Screw Systems in Body-fixed Representation

Sharp Linkages

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