 Название: Advances in Robot Kinematics 2018
Автор: Jadran Lenarcic, Vincenzo Parenti-Castelli
Издательство: Springer International Publishing
Год: 2018
ISBN: 9783319931876
Серия: Springer Proceedings in Advanced Robotics (Book 8)
Формат: pdf
Страниц: XI, 477
Размер: 53 mb
Язык: English
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.
Kinematic Interpretation of the Study Quadric’s Ambient Space
Nawratil, Georg
Pages 3-11
Input-Output Equation for Planar Four-Bar Linkages
Hayes, M. John D. (et al.)
Pages 12-19
Principal Kinematic Inequalities
Chirikjian, Gregory S.
Pages 20-27
Displacement Varieties for Some PUP Linkages
Selig, Jonathan M.
Pages 28-36
Accurate Computation of Quaternions from Rotation Matrices
Sarabandi, Soheil (et al.)
Pages 39-46
Redundancy Parametrization in Globally-Optimal Inverse Kinematics
Ferrentino, Enrico (et al.)
Pages 47-55
Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations
Schulz, Stefan (et al.)
Pages 56-64
Novel Pl?cker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chains
Bongardt, Bertold
Pages 65-73
Analytical Determination of a Sphere Inside Which the Stewart Platform Translates Without Suffering Any Leg Interference
Nag, Anirban (et al.)
Pages 74-82
Higher-Order Relative Kinematics of Rigid Body Motions: A Dual Lie Algebra Approach
Condurache, Daniel
Pages 83-91
An Algorithm for Trajectory Generation in Redundant Manipulators with Joint Transmission Accommodation
Wehage, Kristopher (et al.)
Pages 92-99
Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robots
Peyron, Quentin (et al.)
Pages 100-107
Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF
Liang, Xinghai (et al.)
Pages 108-115
Optimal Object Placement Using a Virtual Axis
Wei?, Martin
Pages 116-123
The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra
Porta, Josep M. (et al.)
Pages 124-132
Six-Bar Linkage Design System with a Parallelized Polynomial Homotopy Solver
Glabe, Jeffrey (et al.)
Pages 133-140
Algebraic Analysis of a 3-RUU Parallel Manipulator
Stigger, Thomas (et al.)
Pages 141-149
Kinematic Analysis of Planar Tensegrity 2-X Manipulators
Furet, Matthieu (et al.)
Pages 153-160
Rotational Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots
Corinaldi, David (et al.)
Pages 161-169
Randomized Planning of Dynamic Motions Avoiding Forward Singularities
Bordalba, Ricard (et al.)
Pages 170-178
Analysis of Kinematic Singularities for a Serial Redundant Manipulator with 7 DOF
Li, Zijia (et al.)
Pages 179-186
A Geometric Method of Singularity Avoidance for Kinematically Redundant Planar Parallel Robots
Baron, Nicholas (et al.)
Pages 187-194
The 3-PPPS Parallel Robot with U-Shape Base, a 6-DOF Parallel Robot with Simple Kinematics
Chablat, Damien (et al.)
Pages 195-202
On the Singularities of a Parallel Robotic System Used for Elbow and Wrist Rehabilitation
Birlescu, Iosif (et al.)
Pages 203-211
Kinematic Constraint Maps and C-space Singularities for Planar Mechanisms with Prismatic Joints
Vahid Amirinezhad, Seyed (et al.)
Pages 212-220
Transversality and Its Applications to Kinematics
Vahid Amirinezhad, Seyed (et al.)
Pages 221-229
Lateral Stability of a 3-DOF Asymmetrical Spherical Parallel Manipulator with a Universal Joint Featuring Infinite Torsional Movement
Wu, Guanglei (et al.)
Pages 233-241
On the Use of Instant Centers to Build Dynamic Models of Single-dof Planar Mechanisms
Gregorio, Raffaele
Pages 242-249
Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study
Tcho?, Krzysztof (et al.)
Pages 250-257
Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies
Tempel, Philipp (et al.)
Pages 258-265
A General Discretization-Based Approach for the Kinetostatic Analysis of Closed-Loop Rigid/Flexible Hybrid Mechanisms
Chen, Genliang (et al.)
Pages 269-276
A Pure-Inertia Method for Dynamic Balancing of Symmetric Planar Mechanisms
Jong, Jan J. (et al.)
Pages 277-284
Stiffness and Deformation of Mechanisms with Locally Flexible Bodies: A General Method Using Expanded Passive Joints
Moreno, Gonzalo (et al.)
Pages 285-292
Kinematic Characteristics of Parallel Continuum Mechanisms
Altuzarra, Oscar (et al.)
Pages 293-301
Spatial Orientations of Principal Vector Planes for Inherent Dynamic Balancing
Wijk, Volkert
Pages 302-309
Static Modeling of Sagging Cables with Flexural Rigidity and Shear Forces
Hussein, Hussein (et al.)
Pages 310-318
From Differential Geometry of Curves to Helical Kinematics of Continuum Robots Using Exponential Mapping
Grazioso, Stanislao (et al.)
Pages 319-326
A Ligament Model Based on Fibre Mapping for Multibody Simulations
Nardini, Fabrizio (et al.)
Pages 327-334
Generalized Path Following Constraints with Spatial Curves for Roller Coaster Applications
Ambrosio, Jorge (et al.)
Pages 335-343
Line-Symmetric Motion Generators
Wu, Yuanqing (et al.)
Pages 347-355
Kinematic Synthesis of Planar Multi-limb Mechanisms for Multi-directional Interaction with Bodies in the Environment
Robson, Nina (et al.)
Pages 356-363
A Novel Rotary Positioner with Single Drive: Structural Analysis and Kinematic Design
Fomin, Alexey (et al.)
Pages 364-371
A New Mechanism for the Deployment of Modular Solar Arrays: Kinematic and Static Analysis
Seriani, Stefano (et al.)
Pages 372-379
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Advances in Robot Kinematics 2018 
