Computational kinematics /
This volume provides a state of the art account of developments in computational kinematics. Included are both numerical computations and symbolic manipulations. The volume reports on trends and progress in a broad class of problems, and the information is collated logically into six parts describin...
| Corporate Authors: | , |
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| Other Authors: | , , |
| Format: | Conference Proceeding eBook |
| Language: | English |
| Published: |
Dordrecht :
Springer Science+Business Media,
[1993]
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| Series: | Solid mechanics and its applications ;
v. 28. |
| Subjects: | |
| Online Access: | Connect to the full text of this electronic book |
Table of Contents:
- 1. Kinematics Algorithms. 1.1. Computations in Kinematics / B. Roth. 1.2. Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem / M. Ghazvini. 1.3. On the Tangent-Half-Angle Substitution / P. Kovacs and G. Hommel. 1.4. Resultant Methods for the Inverse Kinematics Problem / J. Weiss
- 2. Redundant Manipulators. 2.1. Redundancy Resolution for an Eight-Axis Manipulator / H. Heiss. 2.2. A Mixed Numeric and Symbolic Approach to Redundant Manipulators / M. Kauschke. 2.3. Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators / J. Lenarcic. 2.4. On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators / E. Celaya and C. Torras. 2.5. The Self-Motion Manifolds of the N-Bar Mechanism / F. Thomas
- 3. Kinematic and Dynamic Control. 3.1. Feedforward Torque Computations with the Aid of Maple V / T.H. Connolly and F. Pfeiffer. 3.2. Nonlinear Control of Constrained Redundant Manipulators / C. Woernle.
- 3.3. Analysis of Mechanisms by the Dual Inertia Operator / M. Shoham and V. Brodsky
- 4. Parallel Manipulators. 4.1. Direct Kinematics in Analytical Form of a General Geometry 5-4 Fully-Parallel Manipulator / C. Innocenti and V. Parenti-Castelli. 4.2. The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators / H.R. Mohammadi Daniali, P.J. Zsombor-Murray and J. Angeles. 4.3. The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators / K.E. Zanganeh and J. Angeles. 4.4. On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators / D. Lazard. 4.5. Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators / J.-P. Merlet
- 5. Motion Planning. 5.1. Singularity Control for Simple Manipulators using 'Path Energy' / J.E. Lloyd. 5.2. An Investigation of Path Tracking Singularities for Planar 2R Manipulators / J. Kieffer and B. O'Loghlin.
- 5.3. Robot Motions with Trajectory Interpolation and Overcorrection / H. Heiss. 5.4. Computational Geometry and Motion Approximation / Q.J. Ge and B. Ravani
- 6. Kinematics of Mechanisms. 6.1. Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator / R.B. Hertz and P.C. Hughes. 6.2. Analytical Determination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages / C. Innocenti. 6.3. On Closed Form Solutions of Multiple-Loop Mechanisms / A. Kecskemethy. 6.4. A Modular Method for Computational Kinematics / P. Fanghella and C. Galletti. 6.5. Synthesis for Rigid Body Guidance Using Polynomials / A.A. Rojas Salgado and J.I. Torres Navarro. 6.6. Designing Mechanisms for Workspace Fit / F.C. Park, A.P. Murray and J.M. McCarthy.