Advances in Robot Kinematics 2018 / edited by Jadran Lenarcic, Vincenzo Parenti-Castelli.

Format:

Book

Contributor:

Lenarčič, J. (Jadran), Editor.

Parenti-Castelli, Vincenzo, Editor.

Series:

Springer Proceedings in Advanced Robotics, 2511-1264 ; 8

Language:

English

Subjects (All):

Automatic control.

Robotics.

Automation.

Mathematics--Data processing.

Mathematics.

Engineering design.

Control, Robotics, Automation.

Computational Science and Engineering.

Engineering Design.

Local Subjects:

Control, Robotics, Automation.

Computational Science and Engineering.

Engineering Design.

Physical Description:

1 online resource (XI, 477 p. 191 illus.)

Edition:

1st ed. 2019.

Place of Publication:

Cham : Springer International Publishing : Imprint: Springer, 2019.

Summary:

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.

Contents:

Preface

Theoretical Kinematics

Kinematic interpretation of the Study quadric's ambient space, by Georg Nawratil

Input-output Equation for Planar Four-bar Linkages, by John Hayes, Manfred Husty, Martin Pfurner

Principal Kinematic Inequalities, by Gregory Chirikjian

Displacement Varieties for Some PUP Linkages, by Jonathan Selig

Computational Kinematics

Accurate Computation of Quaternions from Rotation Matrices, by Soheil Sarabandi, Federico Thomas

Redundancy Parametrization in Globally-Optimal Inverse Kinematics, by Enrico Ferrentino, Pasquale Chiacchio

Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using Only Linear Actuators' Orientations, by Stefan Schulz, Arthur Seibel, Josef Schlattmann

Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains, by Bertold Bongardt

Analytical determination of a sphere inside which the Stewart platform translates without suffering any link interference.-Anirban Nag, Sandipan Bandyopadhyay

Higher-order relative kinematics of rigid body motions. A dual Lie algebra approach, by Daniel Condurache

An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation, by Bahram Ravani, Kristopher Wehage

Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots, by Quentin Peyron, Kanty Rabenorosoa, Nicolas Andreff, Pierre Renaud

Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF, by Xinghai Liang, Yukio Takeda

Optimal Object Placement using a Virtual Axis, by Martin Georg Weiß

The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra, by Josep M Porta, Federico Thomas

Six-bar Linkage Design System with a Parallelized Polynomial Homotopy Solver, by Jeffrey Glabe, John Michael McCarthy

Algebraic Analysis of a 3-RUU Parallel Manipulator, by Thomas Stigger, Abhilash Nayak, Philippe Wenger, Stéphane Caro, Martin Pfurner, Manfred Husty

Singularities

Kinematic analysis of planar tensegrity 2-X manipulators, by Matthieu FURET, Philippe Wenger, Max Lettl

Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots, by David Corinaldi, Luca Carbonari, Matteo Palpacelli, Massimo Callegari

Randomized Planning of Dynamic Motions Avoiding Forward Singularities, by Ricard Bordalba, Lluís Ros, Josep M Porta

Analysis of Kinematic Singularities for a Serial Redundant Manipulator with 7 DOF, by Zijia Li, Mathias Brandstötter, Michael Hofbaur

A Geometric Method of Singularity Avoidance for Kinematically Redundant Planar Parallel Robots, by Nicholas Baron, Andrew Philippides, Nicolas Rojas

The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics, by Damien Chablat, Luc Baron, Ranjan Jha, Luc Rolland

On the singularities of a parallel robotic system used in elbow and wrist rehabilitation, by Iosif Birlescu, Bogdan Gherman, Calin Vaida, Doina Pisla, Nicolae PLITEA, Adrian PISLA, Giuseppe Carbone

Kinematic constraint maps and C-space singularities for planar mechanisms with prismatic joints, by Seyedvahid Amirinezhad, Peter Donelan

Transversality and its applications to kinematics, by Seyedvahid Amirinezhad, Peter Donelan, Andreas Mueller

Control and Dynamics

Lateral Stability of a 3-DOF Asymmetrical Spherical Parallel Manipulator with a Universal Joint Featuring Infinite Torsional Movement, by Guanglei Wu, Huiping Shen

On the Use of Instant Centers to Build Dynamic Models of Single-dof Planar Mechanisms, by Raffaele Di-Gregorio, Guanglei Wu, Huiping Shen

Normal forms of robotic systems with affine Pfaffian constraints: A case study, by Krzysztof Tchon, Joanna Ratajczak, Janusz Jakubiak

Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies, by Philipp Tempel, Felix Trautwein, Andreas Pott

Modelling

A General Discretization-based Approach for the Kinetostatic Analysis of Closed-loop Rigid/Flexible Hybrid Mechanisms, by Genliang Chen, Zhuang Zhang, Zhengtao Chen, Hao Wang

A pure-inertia method for dynamic balancing of symmetric planar mechanisms, by Jan De Jong, Yuanqing Wu, Marco Carricato, Just Herder

Stiffness and deformation of mechanisms with locally flexible bodies: a general method using expanded passive joints, by Gonzalo Moreno, Julio Frantz, Lauro Nicolazzi, Rodrigo de Souza Vieira, Daniel Martins

Kinematic Characteristics of Parallel Continuum Mechanisms, by Oscar Altuzarra, Diego Caballero, Qiuchen Zhang, Francisco J. Campa

Spatial Orientations of Principal Vector Planes for Inherent Dynamic Balancing, by Volkert van der Wijk

Static Modeling of Sagging Cables With Flexural Rigidity and Shear Forces, by Hussein Hussein, Marc Gouttefarde, François Pierrot

From Differential Geometry of Curves to Helical Kinematics of Continuum Robots using Exponential Mapping, by Stanislao Grazioso, Giuseppe Di Gironimo, Bruno Siciliano

A ligament model based on fibre mapping for multibody simulations, by Fabrizio Nardini, Nicola Sancisi, Vincenzo Parenti-Castelli

Generalized Path Following Constraints with Spatial Curves for Roller Coaster Applications, by Jorge Ambrosio, Pedro Antunes, Mario Viegas

Design

Line-Symmetric Motion Generators, by Yuanqing Wu, Marco Carricato

Kinematic Synthesis of Planar Multi-Limb Mechanisms for Multi-Directional Interaction with Bodies in the Environment, by Nina Robson, Gim Song Soh

A Novel Rotary Positioner with Single Drive: Structural Analysis and Kinematic Design, by Alexey Fomin, Victor A. Glazunov

A new mechanism for the deployment of modular solar arrays: kinematic and static analysis, by Stefano Seriani, Paolo Gallina, Lorenzo Scalera, Alessandro Gasparetto, Armin Wedler

Cable Driven parallel Manipulators

Energy Consumption Reduction of a Cable-Driven Storage and RetrievalSystem, by Tobias Bruckmann, Christopher Reichert, Hongqian Ji

Computing cross-sections of the workspace of a cable-driven parallel robot with 6 sagging cables having limited lengths, by Jean-Pierre Merlet

A Unified Approach to Forward Kinematics for Cable-driven Parallel Robots based on Energy, by Andreas Pott, Philipp Tempel

Kinematic Modeling and Twist Feasibility of Mobile Cable-Driven Parallel Robots, by Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro

Kinetostatic characterization of a loading system based on a partially-decoupled parallel manipulator, by Giulio Spagnuolo, Nicola Sancisi, Rocco Vertechy, Vincenzo Parenti-Castelli

Biorobotics

Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot, by Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Mueller, Frank Kirchner

Online Calibration Procedure for Motion Tracking with Wearable Sensors using Kalman Filtering, by Alessandro Filippeschi, Emanuele Ruffaldi, Lorenzo Peppoloni, Carlo Alberto Avizzano

Sensitivity analysis and identification of human parameters for an adaptive, underactuated hand exoskeleton, by Antonio Di Guardo, Mine Sarac, Massimiliano Gabardi, Daniele Leonardis, Massimiliano Solazzi, Antonio Frisoli

Gait phases detection using a 6 d.o.f. ankle joint electro-goniometer, by Dung Cai, Philippe Bidaud, Long Triet Giang Huynh

Fluoroscopy Validation of Noninvasive 3D Bone-Pose Tracking Via External Pressure-Foils, by Nikolas Bufe, Gregor Kuntze, Janet Lenore Ronsky, Andres Kecskemethy

Author index. .

Notes:

Includes bibliographical references and index.

ISBN:

3-319-93188-1