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Advances in Robot Kinematics: Mechanisms and Motion

Jadran Lennarčič ; B. Roth (eds.)

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No detectada	2006	SpringerLink

Información

Tipo de recurso:

libros

ISBN impreso

978-1-4020-4940-8

ISBN electrónico

978-1-4020-4941-5

Editor responsable

Springer Nature

País de edición

Reino Unido

Fecha de publicación

2006

Información sobre derechos de publicación

Cobertura temática

Ingeniería eléctrica, electrónica e informática

Ingeniería mecánica

Tabla de contenidos

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doi: 10.1007/978-1-4020-4941-5_21

All singularities of the 9-DOF DLR medical robot setup for minimally invasive applications

R. Konietschke; G. Hirzinger; Y. Yan

Palabras clave: Joint Angle; Kinematic Chain; Kinematic Structure; Robot Design; Redundant Robot.

- Humanoids and Biomedicine | Pp. 193-200

doi: 10.1007/978-1-4020-4941-5_22

On the inverse kinematics of a fragment of protein backbone

G. Liu; R. J. Milgram; A. Dhanik; J. C. Latombe

Palabras clave: Planar Graph; Inverse Kinematic; Protein Backbone; Adjacency Relation; Cusp Point.

- Humanoids and Biomedicine | Pp. 201-208

doi: 10.1007/978-1-4020-4941-5_23

Predicting reaching postures using a kinematically constrained shoulder model

V. De Sapio; J. Warren; O. Khatib

Palabras clave: Joint Torque; Glenohumeral Joint; Joint Moment; Shoulder Girdle; Gravity Vector.

- Humanoids and Biomedicine | Pp. 209-218

doi: 10.1007/978-1-4020-4941-5_24

Self motions of special 3-RPR planar parallel robot

D. Chablat; P. Wenger; I. A. Bonev

Palabras clave: Mobile Platform; Parallel Robot; Prismatic Joint; Robot Kinematics; Planar Parallel Manipulator.

- Analysis of Mechanisms | Pp. 221-228

doi: 10.1007/978-1-4020-4941-5_25

Graphical singularity analysis of 3-DOF planar parallel manipulators

A. Degani; A. Wolf

Palabras clave: Parallel Manipulator; Revolute Joint; Prismatic Joint; Actuate Joint; Singular Configuration.

- Analysis of Mechanisms | Pp. 229-238

doi: 10.1007/978-1-4020-4941-5_26

Direct singularity closeness indexes for the hexa parallel robot

C. Bier; A. Campos; J. Hesselbach

Palabras clave: Parallel Manipulator; Parallel Robot; Direct Singularity; Grassmann Variety; Closeness Measure.

- Analysis of Mechanisms | Pp. 239-246

doi: 10.1007/978-1-4020-4941-5_27

Stewart-Gough platforms with simple singularity surface

A. Karger

- Analysis of Mechanisms | Pp. 247-254

doi: 10.1007/978-1-4020-4941-5_28

A robust model for 3D tracking in object-oriented multibody systems based on singularity-free Frenet framing

A. Kecskeméthy; M. Tändl

Palabras clave: Multibody System; Pythagorean Hodograph; Frenet Frame; Target Frame; Transmission Behavior.

- Analysis of Mechanisms | Pp. 255-264

doi: 10.1007/978-1-4020-4941-5_29

Singularity of a class of Gough-Stewart platforms with three concurrent joints

P. Ben-Horin; M. Shoham

Palabras clave: Singularity Condition; Parallel Manipulator; Parallel Robot; Versus Versus Versus Versus Versus; Machine Theory.

- Analysis of Mechanisms | Pp. 265-274

doi: 10.1007/978-1-4020-4941-5_30

Singularity analysis of a 4-DOF parallel manipulator using geometric algebra

T. K. Tanev

Palabras clave: Parallel Manipulator; Clifford Algebra; Geometric Algebra; Outer Product; Geometric Product.

- Analysis of Mechanisms | Pp. 275-284