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.
Table of Contents
Part 1
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
Part 2
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 Sch ¨onfliess-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
Part 3
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
Part 4
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
Part 5
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
Part 6
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
Part 7
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
Part 8
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
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