Read e-book online Advances in Robot Kinematics: Analysis and Design PDF

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By Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

ISBN-10: 1402085990

ISBN-13: 9781402085994

ISBN-10: 1402086008

ISBN-13: 9781402086007

This ebook provides the newest learn advances within the thought, layout, keep watch over and alertness of robotic platforms, that are meant for a number of reasons resembling manipulation, production, automation, surgical procedure, locomotion and biomechanics. the problems addressed are essentially kinematic in nature, together with synthesis, calibration, redundancy, strength regulate, 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 systems.

The ebook comprises forty eight independently reviewed papers of researchers specialising in robotic kinematics. The members are the main acknowledged scientists during this sector. The papers were subdivided into the subsequent sections: Singularity research of parallel manipulators, layout of robots and mechanisms, movement making plans and mobility, functionality and houses of mechanisms, degree and calibration, Kinematic research and workspace.

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Extra resources for Advances in Robot Kinematics: Analysis and Design

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M. , Thomas F. (Eds), Advances in Robot Kinematics: Theory and Applications, Kluwer Academic Publishers, Dordrecht. uk Abstract. This paper first deals with the forward kinematics (forward displacement analysis) of a class of 3-RPR planar parallel manipulator with congruent equilateral base and moving platform using an algebraic approach. Conditions on the inputs under which the manipulator has different number of solutions to the forward kinematics, including a double solution, two distinct solutions or infinite solutions (self-motion), are identified.

275–284. White, N. (1994), Grassmann–Cayley algebra and robotics, Journal of Intelligent and Robotics Systems 11, 91–107. Zamora-Esquivel, J. and Bayro-Corrochano, E. (2006), Kinematics and grasping using conformal geometric algebra, in Advances in Robot Kinematics, Mechanism and Motion, Lenarˇciˇc, J. and Roth, B. (Eds), Springer, Dordrecht, the Netherlands, pp. 473–480. A. M. (2002), Constraint singularities of parallel mechanisms, in Proceedings International Conference on Robotics and Automation, ICRA ’02, IEEE, Vol.

Advances in Robot Kinematics: Analysis and Design, 49–58. V. 2008 50 P. Ben-Horin et al. 1 Grassmann–Cayley Algebra The algorithm used in SinguLab is based on GCA. For space limitations we only introduce the basic concepts and the readers are referred to Ben-Horin and Shoham (2006a) and reference therein for further details on this topic. The basic elements of this algebra are called extensors, which in fact are symbolically denoted Plücker coordinates of vectors. Two basic operations that play an essential role in GCA involving extensors are the join and meet operators.

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Advances in Robot Kinematics: Analysis and Design by Michele Conconi, Marco Carricato (auth.), Jadran Lenarčič, Philippe Wenger (eds.)

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