Название: Advances in Robot Kinematics 2018 Автор: Jadran Lenarcic, Vincenzo Parenti-Castelli Издательство: Springer International Publishing Год: 2018 ISBN: 9783319931876 Серия: Springer Proceedings in Advanced Robotics (Book 8) Формат: pdf Страниц: XI, 477 Размер: 53 mb Язык: English
This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy.
ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Kinematic Interpretation of the Study Quadric’s Ambient Space Nawratil, Georg Pages 3-11
Input-Output Equation for Planar Four-Bar Linkages Hayes, M. John D. (et al.) Pages 12-19
Principal Kinematic Inequalities Chirikjian, Gregory S. Pages 20-27
Displacement Varieties for Some PUP Linkages Selig, Jonathan M. Pages 28-36
Accurate Computation of Quaternions from Rotation Matrices Sarabandi, Soheil (et al.) Pages 39-46
Redundancy Parametrization in Globally-Optimal Inverse Kinematics Ferrentino, Enrico (et al.) Pages 47-55
Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations Schulz, Stefan (et al.) Pages 56-64
Novel Pl?cker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains Bongardt, Bertold Pages 65-73
Analytical Determination of a Sphere Inside Which the Stewart Platform Translates Without Suffering Any Leg Interference Nag, Anirban (et al.) Pages 74-82
Higher-Order Relative Kinematics of Rigid Body Motions: A Dual Lie Algebra Approach Condurache, Daniel Pages 83-91
An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation Wehage, Kristopher (et al.) Pages 92-99
Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots Peyron, Quentin (et al.) Pages 100-107
Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF Liang, Xinghai (et al.) Pages 108-115
Optimal Object Placement Using a Virtual Axis Wei?, Martin Pages 116-123
The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra Porta, Josep M. (et al.) Pages 124-132
Six-Bar Linkage Design System with a Parallelized Polynomial Homotopy Solver Glabe, Jeffrey (et al.) Pages 133-140
Algebraic Analysis of a 3-RUU Parallel Manipulator Stigger, Thomas (et al.) Pages 141-149
Kinematic Analysis of Planar Tensegrity 2-X Manipulators Furet, Matthieu (et al.) Pages 153-160
Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots Corinaldi, David (et al.) Pages 161-169
Randomized Planning of Dynamic Motions Avoiding Forward Singularities Bordalba, Ricard (et al.) Pages 170-178
Analysis of Kinematic Singularities for a Serial Redundant Manipulator with 7 DOF Li, Zijia (et al.) Pages 179-186
A Geometric Method of Singularity Avoidance for Kinematically Redundant Planar Parallel Robots Baron, Nicholas (et al.) Pages 187-194
The 3-PPPS Parallel Robot with U-Shape Base, a 6-DOF Parallel Robot with Simple Kinematics Chablat, Damien (et al.) Pages 195-202
On the Singularities of a Parallel Robotic System Used for Elbow and Wrist Rehabilitation Birlescu, Iosif (et al.) Pages 203-211
Kinematic Constraint Maps and C-space Singularities for Planar Mechanisms with Prismatic Joints Vahid Amirinezhad, Seyed (et al.) Pages 212-220
Transversality and Its Applications to Kinematics Vahid Amirinezhad, Seyed (et al.) Pages 221-229
Lateral Stability of a 3-DOF Asymmetrical Spherical Parallel Manipulator with a Universal Joint Featuring Infinite Torsional Movement Wu, Guanglei (et al.) Pages 233-241
On the Use of Instant Centers to Build Dynamic Models of Single-dof Planar Mechanisms Gregorio, Raffaele Pages 242-249
Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study Tcho?, Krzysztof (et al.) Pages 250-257
Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies Tempel, Philipp (et al.) Pages 258-265
A General Discretization-Based Approach for the Kinetostatic Analysis of Closed-Loop Rigid/Flexible Hybrid Mechanisms Chen, Genliang (et al.) Pages 269-276
A Pure-Inertia Method for Dynamic Balancing of Symmetric Planar Mechanisms Jong, Jan J. (et al.) Pages 277-284
Stiffness and Deformation of Mechanisms with Locally Flexible Bodies: A General Method Using Expanded Passive Joints Moreno, Gonzalo (et al.) Pages 285-292
Kinematic Characteristics of Parallel Continuum Mechanisms Altuzarra, Oscar (et al.) Pages 293-301
Spatial Orientations of Principal Vector Planes for Inherent Dynamic Balancing Wijk, Volkert Pages 302-309
Static Modeling of Sagging Cables with Flexural Rigidity and Shear Forces Hussein, Hussein (et al.) Pages 310-318
From Differential Geometry of Curves to Helical Kinematics of Continuum Robots Using Exponential Mapping Grazioso, Stanislao (et al.) Pages 319-326
A Ligament Model Based on Fibre Mapping for Multibody Simulations Nardini, Fabrizio (et al.) Pages 327-334
Generalized Path Following Constraints with Spatial Curves for Roller Coaster Applications Ambrosio, Jorge (et al.) Pages 335-343
Line-Symmetric Motion Generators Wu, Yuanqing (et al.) Pages 347-355
Kinematic Synthesis of Planar Multi-limb Mechanisms for Multi-directional Interaction with Bodies in the Environment Robson, Nina (et al.) Pages 356-363
A Novel Rotary Positioner with Single Drive: Structural Analysis and Kinematic Design Fomin, Alexey (et al.) Pages 364-371
A New Mechanism for the Deployment of Modular Solar Arrays: Kinematic and Static Analysis Seriani, Stefano (et al.) Pages 372-379
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Название: Advances in Robot Kinematics 2018