Advances in Robot Kinematics: Motion in Man and Machine: Motion in Man and Machine [1 ed.] 9048192617, 9789048192618

Table of contents :
Front Matter....Pages i-xi
Front Matter....Pages 1-1
Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges....Pages 3-10
Dynamic Jacobian Inverses of Mobile Manipulator Kinematics....Pages 11-21
A Robust Forward Kinematics Analysis of 3-R P R Planar Platforms....Pages 23-32
Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations....Pages 33-43
Researching into Non-Singular Transitions in the Joint Space....Pages 45-52
MARIONET, A Family of Modular Wire-Driven Parallel Robots....Pages 53-61
Using Cosserat Point Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis....Pages 63-70
Front Matter....Pages 72-72
Mechanical Generators of 2-DoF Translation along a Ruled Surface....Pages 73-80
Worm-Like Robotic Locomotion in Flexible Environment....Pages 81-89
Actuation Strategy Based on the Acceleration Model for the 3- P R P R Redundant Planar Parallel Manipulator....Pages 91-98
Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery....Pages 99-106
Main Theorem on Schönflies-Singular Planar Stewart Gough Platforms....Pages 107-116
A Novel Actuation Module for Wearable Robots....Pages 117-125
Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction....Pages 127-136
Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy....Pages 137-144
Front Matter....Pages 146-146
Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator....Pages 147-156
Multiple-Point Kinematic Control of a Humanoid Robot....Pages 157-168
Optimum Design of a Pan-Tilt Drive for Parallel Robots....Pages 169-176
LQP-Based Controller Design for Humanoid Whole-Body Motion....Pages 177-184
Persistent Screw Systems....Pages 185-194
Front Matter....Pages 146-146
Localisation of the Instantaneous Axis of Rotation in Human Joints....Pages 195-202
A Kinematic Observation and Conjecture for Creating Stable Constructs of a Peptide Nanoparticle....Pages 203-210
Forward Kinematic Problem of 5- P RUR Parallel Mechanisms Using Study Parameters....Pages 211-221
Front Matter....Pages 224-224
The Development of a Reconfigurable Parallel Robot with Binary Actuators....Pages 225-232
On the Design of 5R Serial Manipulators with Isotropic Positioning....Pages 233-240
A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head....Pages 241-250
Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions....Pages 251-260
Front Matter....Pages 262-262
Equilibrium Analysis of Tensegrity Structures with Elastic Ties....Pages 263-272
Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle....Pages 273-282
Human Motion Reconstruction and Synthesis of Human Skills....Pages 283-292
Overconstrained Mechanisms with Radially Reciprocating Motion....Pages 293-300
Control of Bipedal Turning While Running....Pages 301-308
Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots....Pages 309-319
The Inverse Kinematics of 3-D Towing....Pages 321-328
A Complete Method for Workspace Boundary Determination....Pages 329-338
Front Matter....Pages 340-340
Inverse Kinematics of Humanoid-Robot Reaching through Human Visuo-Motor Learning....Pages 341-348
Automated Fitting of an Elastokinematic Surrogate Mechanism for Forearm Motion from MRI Measurements....Pages 349-358
Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators....Pages 359-366
Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment....Pages 367-376
Geometric Interpolation by Quartic Rational Spline Motions....Pages 377-384
Front Matter....Pages 340-340
Position Level Kinematics of the Atlas Motion Platform....Pages 385-392
An Optimum Path Planning for LARM Clutched Arm....Pages 393-400
A Simple Kinematic Model of a Human Body for Virtual Environments....Pages 401-408
Front Matter....Pages 410-410
On the Development of Low Mass Shaking Force Balanced Manipulators....Pages 411-420
Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms....Pages 421-428
Geometric Kinematics of Rigid Bodies with Point Contact....Pages 429-436
Singularity Locus of 6–4 Fully-Parallel Manipulators....Pages 437-445
The Pre-Stereographic Model of the General Three-System of Screws....Pages 447-454
Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots....Pages 455-463
Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints....Pages 465-474
Characterization of Parallel Manipulator Available Wrench Set Facets....Pages 475-482
Front Matter....Pages 484-484
Constraint-Screw System Based Synthesis of Limb Arrangement of the 3- PUP Parallel Mechanism....Pages 485-492
On Structural Properties of Sets of Finite Displacement Screws....Pages 493-500
An Autonomous and Safe Homing Strategy for Parallel Kinematic Five-Bar Manipulators....Pages 501-508
Singularities of Regional Manipulators Revisited....Pages 509-519
Robot-Based HiL Test of Joint Endoprostheses....Pages 521-528
An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots....Pages 529-538
Numerical Synthesis of Overconstrained Mechanisms Based on Screw Theory....Pages 539-546
Back Matter....Pages 547-551