Advances in Robot Kinematics
M. M. Staniisic,Jadran Lenarčič +1 more
- 01 Jan 2000
312
TL;DR: This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics.
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Abstract: From the Publisher:
This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, control and application.
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Citations
Force-closure analysis of 6-dof cable manipulators with seven or more cables
Xiumin Diao,Ou Ma +1 more
TL;DR: A systematic method of verifying the existence of force-closure at a specific pose of a general 6-DOF cable manipulator with seven or more cables is described and the necessity and sufficiency of the proposed method are mathematically proven.
39
Obstacles Avoidance Based on Switching Potential Functions
TL;DR: A novel path planning and obstacles avoidance method for a mobile robot which makes use of a switching strategy between the attractive potential of the target and a new helicoidal potential field which allows to bypass an obstacle by driving the robot around it.
39
Structural synthesis of maximally regular t3r2-type parallel robots via theory of linear transformations and evolutionary morphology
TL;DR: This paper presents in a unified approach the structural synthesis of PMs with five degrees of freedom with decoupled and uncoupled motions, along with the maximally regular solutions.
37
Force‐based impedance control of a haptic master system for teleoperation
TL;DR: In this article, the design of a force-based impedance control for a haptic interface system characterized by a parallel kinematics is analyzed. And the performance of a closed-loop force control can be improved by exploiting the features of parallel mechanisms.
37
An effective methodology to solve inverse kinematics of electroactive polymer actuators modelled as active and soft robotic structures
TL;DR: An effective methodology to estimate these actuators' whole shape deflection by employing a soft robotic actuator/manipulator approach and an angle optimization method, which is called AngleOPT, to accurately solve the EAP actuator's inverse kinematic problem are reported.
34
References
Optimization of a three DOF translational platform for well-conditioned workspace
R.E. Stamper,Lung-Wen Tsai,G.C. Walsh +2 more
- 20 Apr 1997
TL;DR: Two optimization studies on the design of a three degree of freedom translational parallel platform are conducted and the results are compared.
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