|Title||Advances in Robot Kinematics 2018 [electronic resource] / edited by Jadran Lenarcic, Vincenzo Parenti-Castelli|
|Imprint||Cham : Springer International Publishing : Imprint: Springer, 2019|
|Edition||1st ed. 2019|
|Descript||XI, 477 p. 191 illus. online resource|
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 Retrieval System, 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.
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