Latest Advances in Robot Kinematics [Paperback]

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.

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-RPR 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 Gral#•