Computational Kinematics Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities.

The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

On the Minimum 2-Norm Positive Tension for Wire-Actuated Parallel Manipulators, by L. Notash.- Further Analysis of the 2-2Wire-driven Parallel Crane, by J-P. Merlet.- Some Rational Vehicle Motions, by J. M. Selig.- Topological Representation and Operation of Motion Space Exchange Reconfiguration of Metamorphic Mechanisms, by S. Li, H. Wang, J. Dai, X. Li, Z. Ren and S. Xiu.- Classification of Singularities in Kinematics of Mechanisms, by S. Piipponen, T. Arponen and J. Tuomela.- Non-existence of Planar Projective Stewart Gough Platforms with Elliptic Self-motions (Dedicated to Prof. H. Stachel on the occasion of his 70^th birthday), by G. Nawratil.- Direct Geometrico-Static Problem of Underconstrained Cable-Driven Parallel Robots with 5 Cables, by C. Abbasnejad and M. Carricato.- Uniform and Efficient Exploration of State Space using Kinodynamic Sampling-based Planners, by R. Motwani, M. Motwani and F. C. Harris Jr..- Shape Modeling of Continuous-Curvature Continuum Robots, by S. Bai.- Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space, by M. Urízar, V. Petuya, M. Diez and A. Hernández.- Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks, by A. Müller and M. Ruggiu.- Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic, by V. Schmidt, B. Müller and A. Pott.- Three Types of Parallel 6R Linkages, by Z. Li and J. Schicho.- Positioning two Redundant Arms for Cooperative Manipulation of Objects.- A. Colomé and C. Torras.- A Sufficient Condition for Parameter Identifiability in Robotic Calibration, by T. Gayral and D. Daney.- An improved Force Distribution Algorithm for Over-constrained Cable-driven Parallel Robots, by A. Pott.- An Open-Source Toolbox for Motion Analysis of Closed-chain Mechanisms, by L. Ros, J. M. Porta, O. Bohigas, M. Manibens, C. Rosales and L. Jaillet.- Spherical Parallel Mechanism with Variable Target Point, by T. Ikeda, Y. Takeda and D. Matsuura.- A Blend of Delassus Four-bar Linkages, by C.-C. Lee and J. M. Hervé.- On the Symmetric Molecular Conjectures, by J. M. Porta, L. Ros, B. Schulze, A. Sljoka and W. Whiteley.- Stiffness Modeling of Robotic Manipulator with Gravity Compensator, by A. Klimchik, S. Caro, Y. Wu, D. Chablat, B. Furet and A. Pashkevich.- Computational Algorithm for Determining the Generic Mobility of Floating Planar and Spherical Linkages, by O. Shai and A. Müller.- Determination of the Safe Working Zone of a Parallel Manipulator, by R. A. Srivatsan and S. Bandyopadhyay.- Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming, by J. A. Sandretto, G. Trombettoni, D. Daney and G. Chabert.- Framework Comparison Between a Multifingered Hand and a Parallel Manipulator, by J. Borràs and A. M. Dollar.- A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint, by D. Wang, Z. Wang, H. Dong and S. Yu.- Obtaining the Maximal Singularity-free Workspace of 6-UPS Parallel Mechanisms via Convex Optimization, by A. Karimi, M. T. Masouleh and P. Cardou.- Type Synthesis of Two DOF Hybrid Translational Manipulators, by L. Nurahmi, S. Caro and S. Briot.- Robust Dynamic Control of an Arm of a Humanoid using Super Twisting Algorithm and Conformal Geometric Algebra, by O. Carbajal-Espinosa, L. González-Jiménez, A. Loukianov and E. Bayro-Corrochano.- Singularity Locus for the Endpoint Map of Serial Manipulators with Revolute Joints, by C. S. Borcea and I. Streinu.- Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task, by A. Chaker, A. Mlika, M. A. Laribi, L. Romdhane and S. Zeghloul.- Self Dual Topology of Parallel Mechanisms with Configurable Platforms, by P. Lambert and J. L. Herder.- Four-Dimensional Persistent Screw Systems of the General Type, by M. Carricato.- Determination of Maximal Singularity-Free Workspace of Parallel Mechanisms Using Constructive Geometric Approach, by M. H. F. Kaloorazi, M. T. Masouleh, S. Caro and B. M. Gholamali.- Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms, by A. G. L. Hoevenaars, P. Lambert and J. L. Herder.- Single Exponential Motion and its Kinematic Generators, by G. Liu, Y. Wu and X. Chen.- Foundations for the Approximate Synthesis of RCCC Motion Generators, by J. Angeles.- The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes, by M. Husty, J. Schadlbauer, S. Caro and P. Wenger.- Exact Workspace Synthesis for RCCR Linkages, by B. Batbold, Y. Yihun, J. S. Wolper and A. Perez-Gracia.- A Closed-Form Solution of Spatial Sliders for Rigid-Body Guidance, by C. Huang, W. C. Huang and G. Kiper.- A Cartesian Cable-Suspended Robot for Aiding Mobility, by G. Castelli and E. Ottaviano.- Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures, by F. P. Rad, G. Berselli, R. Vertechy and V. Parenti Castelli.- Kinematic Analysis of Slider-Cranks Derived from the l –Mechanism, by E. Ottaviano, P. Rea and M. Conte.- Improved Muscle Wrapping Algorithms Using Explicit Path-Error Jacobians, by A. Scholz, I. Stavness, M. Sherman, S. Delp and A. Kecskeméthy.- Author Index.- Subject Index.