Advances in Robot Kinematics: Mechanisms and Motion by Jadran Lenarcic, B. Roth

By Jadran Lenarcic, B. Roth

This e-book offers the newest learn advances within the idea, layout, keep an eye on and alertness of robot platforms, that are meant for various reasons comparable to manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength keep an eye on, dexterity, inverse and ahead kinematics, kinematic singularities, in addition to over-constrained platforms. tools used contain line geometry, quaternion algebra, screw algebra, and linear algebra. those tools are utilized to either parallel and serial multi-degree-of-freedom structures.

The e-book comprises fifty three independently reviewed papers of researchers specialising in robotic kinematics. The individuals are the main recognized scientists during this quarter. The papers were subdivided into the next sections: equipment in Kinematics, homes of Mechanisms, Humanoids and Biomedicine, research of Mechanisms, Workspace and function, layout of Mechanisms, movement Synthesis and Mobility.

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Extra info for Advances in Robot Kinematics: Mechanisms and Motion

Example text

Suppose there are drivers on pairs P1, P2, P3 and P4. Starting from the singular position, by moving the drivers P1, P2 and P3 the revolutes P6 and P4-P5 become unaligned, so they cannot rotate P. Fanghella, C. Galletti and E. Giannotti 52 anymore. , with drivers P1, P2 and P3.

P e = p × e for any three-component vector e. As is known, the vector p of Rodrigues parameters corresponds to a finite rotation of amplitude θ = 2 t a n −1 p about the axis defined by unit vector u = p / p . Unfortunately, the Rodrigues parametrization of orientation is singular for any half-a-turn rotation (θ = π rad) about any line because, in this instance, at least one of the components of p approaches infinity. By considering Eq. (4), Eq. ,3; i ≤ j) are known because dependent on the given quantities aij,k and bk only.

This material is based upon work supported by the National Science Foundation under Grants No. #0422705. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. , (2005), Is there a characteristic length of a rigid-body displacement, Proc. of the 2005 International Workshop on Computational Kinematics, Cassino, Italy. , (2002), An svd-based projection method for interpolation on SE(3), IEEE Transactions on Robotics and Automation, vol 18, no 3, pp.

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