Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.) PDF

By Jadran Lenarčič, Oussama Khatib (eds.)

ISBN-10: 3319066978

ISBN-13: 9783319066974

ISBN-10: 3319066986

ISBN-13: 9783319066981

The issues addressed during this ebook hide the complete diversity of kinematic research, synthesis and layout and examine robot structures owning serial, parallel and cable pushed mechanisms. The robot platforms diversity from being lower than totally cellular to kinematically redundant to over constrained.

The fifty-six contributions file the most recent ends up in robotic kinematics with emphasis on rising components resembling layout and keep watch over of humanoids or humanoid subsystems. The publication is of curiosity to researchers eager to carry their wisdom brand new relating to sleek themes in a single of the elemental disciplines in robotics, which pertains to the basic estate of robots, the movement of mechanisms.

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In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013). Karlsruhe, Germany (2013) 7. : Singularity analysis of a six-dof parallel manipulator using Grassmann-Cayley algebra and Groebner bases. In: Proceedings of the Symposium on Brain, Body and Machine. Montreal, QC, Canada (2010) 8. : The Confluence of Vision and Control, chap. Potential problems of stability and convergence in image-based and position-based visual servoing, pp. 66–78. No. 237 in LNCIS.

On the minimum 2-Norm positive tension for wire-actuated parallel manipulators. In: Computational Kinematics, pp. 1–9. Springer, Dordrecht (2014) 7. : Wrench recovery for wire-actuated parallel manipulators, RoManSy 19-Robot design. In: Dynamics and Control, pp. 201–208. Springer (2013) 8. : Verified bounds for least squares problems and underdetermined linear system. SIAM J. Matrix Anal. Appl. 33, 130–148 (2012) A Deployable Parallel Wrist with Simple Kinematics Raffaele Di Gregorio Abstract The parallel-wrist (PW) architectures that can be manufactured from a single sheet and, then, packed into a multi-layer configuration are interesting for many applications that range from MEMS to space.

T the real leg are achieved. For example, for the Quattro [12] made of R–{2–UU} legs for which the parallelogram links are observed ({2–UU} subchain links), the R–PPP chain of the hidden robot leg (which is indeed a{R–PPP}–{2–UU} leg) could be fully-equivalently replaced by a planar parallelogram ( joint) [12]. 2 How Analyzing the Controllability of the Servoed Robots The aim of this section is to show how to use the hidden robots for answering points 1–4 enumerated in the introduction of the chapter.

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Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.)

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