Advances in Robot Kinematics Theory and Applications

This is the fifth book of the Kluwer's series Advances in Robot Kine­ matics. The 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, manufactur­ ing, 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 alge­ bra, 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 mathe­ matics related to robot theory, design, control and application. Each contribution in this book had been rigorously reviewed by two or three independent reviewers and 53 articles had been recommended for publication. We are happy to observe that Advances in Robot Kine­ matics has always attracted the most outstanding authors and has de­ veloped a remarkable scientific community in the area. Many important and original scientific results were for the first time reported and dis­ cussed in these books. All articles in this book were also reported at the eight international symposium on Advances in Robot Kinematics that was organised in June 2002 in Caldes de Malavella in Spain.

Performance Evaluation. A kinematic calibration of in-parallel actuated mechanisms using Fourier series (evaluation index for determination of the set of measurement paths); G. Shen, et al. Dynamic performance indices for 3-DOF parallel manipulators; R. Di Gregorio, V. Parenti-Castelli. Evaluation of a Caresian parallel manipulator; H.S. Kim, L.-W. Tsai. Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system; T.K. Tanev, J. Rooney. Linearized kinematics for state estimation in robotics; K. Parsa, et al. Performance evaluation of the grasp of two cooperating robots using a type map; N. Gascons, et al. On the invariance of manipulability indices; E. Staffetti, et al. Influence of the manipulability index on trajectory planning for robots in a workspace with obstacles; F. Valero, et al. Design and Control of Special-Type Mechanisms. Humanoid humeral pointing kinematics; J. Lenarcic, et al. Efficient algorithms for robots with human-like structures and interactive haptic simulation; O. Khatib, et al. Particular aspects in designing anthropomorphic mechanisms; C. Brisan, M. Hiller. Uncertainty model and singularities of 3-2-1 wire-based tracking systems; F. Thomas, et al. Tension distribution in tendon-based Stewart platforms; R. Verhoeven, M. Hiller. Trajectory tracking control for a cable suspension manipulator; T. Heyden, et al. Is design of new drugs a challenge for kinematics? K. Kazerounian. Redundancy, Singularity, and Self-Motion. Redundant spatial Stewart-Gough platform with a maximal forward kinematics solution set; M. Husty, et al. Singularities and self-motions of a special type of platforms; A. Karger. Investigation of singularities and self-motions of the 3-UPU robot; A. Wolf, et al. On closure modes and singular configurations of kinematic chains; J.E. Baker. Constraint singularities as c-space singularities; D. Zlatanov, et al. Hierarchical kinematic analysis of a redundant robot; D. Martins, R. Guenther. Motion planning of redundant manipulators for specified trajectory tasks; J.A. Pámanes, et al. Realtime coordinated redundant motion of a nonholonomic mobile manipulator; G. Schreiber, G. Hirzinger. Methods in Kinematics. Using body flexibility to simplify the solution of kinematic equations in the dynamic analysis of robot mechanisms and multibody systems; P. Fanghella, C. Galletti. Subdivision algorithms for motion design based on homologous points; M. Hofer, et al. Group theory can explain the mobility of paradoxical linkages; J.M. Ribo, B. Ravani. Solving multi-loop linkages by iterating 2D clippings; J.M. Porta, et al. Revisiting Plücker coordinates in vision-based control; N. Andreff, B. Espiau. On displacing a screw about a screw; I.A. Parkin, J.E. Baker. Algebraic solution of inverse kinematics revisited; W. Korb, et al. A variant of a 6-RKS hunt-type parallel manipulator to easily use insensitivity position configurations; I. Zabalza, et al. Kinematic Design. On the kinematics of parallel mechanisms with bi-stable polymer actuators; A. Wingert, et al. The kinetostatic design of a Schönflies-motion generator; K. Al-Widyan, J. Angeles. Design of 2-DOF parallel mechanisms for machining applications; F. Majou, et al. Kinematically equivalent spatial mechanisms with revolute pair at input and prismatic pair at output; E. Peisach. The optimal synthesis of parallel manipulators for desired work-spaces; A.M. Hay, J.A. Snyman. Connecting assembly modes for