Advances in Robot Kinematics: Motion in Man and Machine [electronic resource] : Motion in Man and Machine / edited by Jadran Lenarcic, Michael M. Stanisic.

By: Lenarcic, Jadran [editor.]Contributor(s): Stanisic, Michael M [editor.] | SpringerLink (Online service)Material type: TextTextLanguage: English Publisher: Dordrecht : Springer Netherlands, 2010Description: XI, 300p. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9789048192625Subject(s): Engineering | Mechanics, applied | Engineering design | Industrial engineering | Engineering | Robotics and Automation | Theoretical and Applied Mechanics | Industrial and Production Engineering | Control, Robotics, Mechatronics | Engineering DesignAdditional physical formats: Printed edition:: No titleDDC classification: 629.892 LOC classification: TJ210.2-211.495T59.5Online resources: Click here to access online
Contents:
PART1 -- Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges -- Dynamic Jacobian Inverses of Mobile Manipulator Kinematics -- A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms -- Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations -- Researching into Non-Singular Transitions in the Joint Space -- MARIONET, A Family of Modular Wire-Driven Parallel Robots -- Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis -- PART2 -- Mechanical Generators of 2-DoF Translation along a Ruled Surface -- Worm-Like Robotic Locomotion in Flexible Environment -- Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator -- Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery -- Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms -- A Novel Actuation Module for Wearable Robots -- Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction -- Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy -- PART3 -- Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator -- Multiple-Point Kinematic Control of a Humanoid Robot -- Optimum Design of a Pan-Tilt Drive for Parallel Robots -- LQP-Based Controller Design for Humanoid Whole-Body Motion -- Persistent Screw Systems -- Localisation of the Instantaneous Axis of Rotation in Human Joints -- A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle -- Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters -- PART4 -- The Development of a Reconfigurable Parallel Robot with Binary Actuators -- On the Design of 5R Serial Manipulators with Isotropic Positioning -- A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head -- Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions -- PART5 -- Equilibrium Analysis of Tensegrity Structures with Elastic Ties -- Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle -- Human Motion Reconstruction and Synthesis of Human Skills -- Overconstrained Mechanisms with Radially Reciprocating Motion -- Control of Bipedal Turning While Running -- Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots -- The Inverse Kinematics of 3-D Towing -- A Complete Method for Workspace Boundary Determination -- PART6 -- Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning -- Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion from MRI Measurements -- Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators -- Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment -- Geometric Interpolation by Quartic Rational Spline Motions -- Position Level Kinematics of the Atlas Motion Platform -- An Optimum Path Planning for LARM Clutched Arm -- A Simple Kinematic Model of a Human Body for Virtual Environments -- PART7 -- On the Development of Low Mass Shaking Force Balanced Manipulators -- Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms -- Geometric Kinematics of Rigid Bodies with Point Contact -- Singularity Locus of 6–4 Fully-Parallel Manipulators -- The Pre-Stereographic Model of the General Three-System of Screws -- Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots -- Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints -- Characterization of Parallel Manipulator Available Wrench Set Facets -- PART8 -- Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism -- On Structural Properties of Sets of Finite Displacement Screws -- An Autonomous and Safe Homing Strategy for Parallel Kinematic Five-Bar Manipulators -- Singularities of Regional Manipulators Revisited -- Robot-Based HiL Test of Joint Endoprostheses -- An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots -- Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory.
In: Springer eBooksSummary: This book is a collection of 58 peer reviewed papers, which should be of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. The papers consider the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions. As well as the mobility analysis of protein molecules and the development of machines which incorporate man.
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PART1 -- Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges -- Dynamic Jacobian Inverses of Mobile Manipulator Kinematics -- A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms -- Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations -- Researching into Non-Singular Transitions in the Joint Space -- MARIONET, A Family of Modular Wire-Driven Parallel Robots -- Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis -- PART2 -- Mechanical Generators of 2-DoF Translation along a Ruled Surface -- Worm-Like Robotic Locomotion in Flexible Environment -- Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator -- Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery -- Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms -- A Novel Actuation Module for Wearable Robots -- Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction -- Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy -- PART3 -- Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator -- Multiple-Point Kinematic Control of a Humanoid Robot -- Optimum Design of a Pan-Tilt Drive for Parallel Robots -- LQP-Based Controller Design for Humanoid Whole-Body Motion -- Persistent Screw Systems -- Localisation of the Instantaneous Axis of Rotation in Human Joints -- A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle -- Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters -- PART4 -- The Development of a Reconfigurable Parallel Robot with Binary Actuators -- On the Design of 5R Serial Manipulators with Isotropic Positioning -- A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head -- Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions -- PART5 -- Equilibrium Analysis of Tensegrity Structures with Elastic Ties -- Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle -- Human Motion Reconstruction and Synthesis of Human Skills -- Overconstrained Mechanisms with Radially Reciprocating Motion -- Control of Bipedal Turning While Running -- Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots -- The Inverse Kinematics of 3-D Towing -- A Complete Method for Workspace Boundary Determination -- PART6 -- Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning -- Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion from MRI Measurements -- Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators -- Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment -- Geometric Interpolation by Quartic Rational Spline Motions -- Position Level Kinematics of the Atlas Motion Platform -- An Optimum Path Planning for LARM Clutched Arm -- A Simple Kinematic Model of a Human Body for Virtual Environments -- PART7 -- On the Development of Low Mass Shaking Force Balanced Manipulators -- Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms -- Geometric Kinematics of Rigid Bodies with Point Contact -- Singularity Locus of 6–4 Fully-Parallel Manipulators -- The Pre-Stereographic Model of the General Three-System of Screws -- Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots -- Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints -- Characterization of Parallel Manipulator Available Wrench Set Facets -- PART8 -- Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism -- On Structural Properties of Sets of Finite Displacement Screws -- An Autonomous and Safe Homing Strategy for Parallel Kinematic Five-Bar Manipulators -- Singularities of Regional Manipulators Revisited -- Robot-Based HiL Test of Joint Endoprostheses -- An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots -- Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory.

This book is a collection of 58 peer reviewed papers, which should be of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. The papers consider the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions. As well as the mobility analysis of protein molecules and the development of machines which incorporate man.

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