This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy.
ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.
The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Preface.- Theoretical Kinematics.- Kinematic interpretation of the Study
quadric's ambient space, by Georg Nawratil.- Input-output Equation for Planar
Four-bar Linkages, by John Hayes, Manfred Husty, Martin Pfurner.- Principal
Kinematic Inequalities, by Gregory Chirikjian.- Displacement Varieties for
Some PUP Linkages, by Jonathan Selig.- Computational Kinematics.- Accurate
Computation of Quaternions from Rotation Matrices, by Soheil Sarabandi,
Federico Thomas.- Redundancy Parametrization in Globally-Optimal Inverse
Kinematics, by Enrico Ferrentino, Pasquale Chiacchio.- Solution for the
Direct Kinematics Problem of the General Stewart-Gough Platform by Using Only
Linear Actuators' Orientations, by Stefan Schulz, Arthur Seibel, Josef
Schlattmann.- Novel Plücker Operators and a Dual Rodrigues Formula Applied to
the IKP of General 3R Chains, by Bertold Bongardt.- Analytical determination
of a sphere inside which the Stewart platform translates without suffering
any link interference.-Anirban Nag, Sandipan Bandyopadhyay.- Higher-order
relative kinematics of rigid body motions. A dual Lie algebra approach, by
Daniel Condurache.- An Algorithm for Trajectory Generation in Redundant
Manipulators with Joint Transmission Accommodation, by Bahram Ravani,
Kristopher Wehage.- Evaluation of Dynamic Relaxation to Solve Kinematics of
Concentric Tube Robots, by Quentin Peyron, Kanty Rabenorosoa, Nicolas
Andreff, Pierre Renaud.- Iterative Method for the Inverse Kinematics of a
3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF, by
Xinghai Liang, Yukio Takeda.- Optimal Object Placement using a Virtual Axis,
by Martin Georg Weiß.- The Forward Kinematics of Doubly-Planar Gough-Stewart
Platforms and the Position Analysis of Strips of Tetrahedra, by Josep M
Porta, Federico Thomas.- Six-bar Linkage Design System with a Parallelized
Polynomial Homotopy Solver, by Jeffrey Glabe, John Michael McCarthy.-
Algebraic Analysis of a 3-RUU Parallel Manipulator, by Thomas Stigger,
Abhilash Nayak, Philippe Wenger, Stéphane Caro, Martin Pfurner, Manfred
Husty.- Singularities.- Kinematic analysis of planar tensegrity 2-X
manipulators, by Matthieu FURET, Philippe Wenger, Max Lettl.- Rotational
Mobility Analysis of the 3-RFR Class of Spherical Parallel Robots, by David
Corinaldi, Luca Carbonari, Matteo Palpacelli, Massimo Callegari.- Randomized
Planning of Dynamic Motions Avoiding Forward Singularities, by Ricard
Bordalba, Lluís Ros, Josep M Porta.- Analysis of Kinematic Singularities for
a Serial Redundant Manipulator with 7 DOF, by Zijia Li, Mathias Brandstötter,
Michael Hofbaur.- A Geometric Method of Singularity Avoidance for
Kinematically Redundant Planar Parallel Robots, by Nicholas Baron, Andrew
Philippides, Nicolas Rojas.- The 3-PPPS parallel robot with U-shape Base, a
6-DOF parallel robot with simple kinematics, by Damien Chablat, Luc Baron,
Ranjan Jha, Luc Rolland.- On the singularities of a parallel robotic system
used in elbow and wrist rehabilitation, by Iosif Birlescu, Bogdan Gherman,
Calin Vaida, Doina Pisla, Nicolae PLITEA, Adrian PISLA, Giuseppe Carbone.-
Kinematic constraint maps and C-space singularities for planar mechanisms
with prismatic joints, by Seyedvahid Amirinezhad, Peter Donelan.-
Transversality and its applications to kinematics, by Seyedvahid Amirinezhad,
Peter Donelan, Andreas Mueller.- Control and Dynamics.- Lateral Stability of
a 3-DOF Asymmetrical Spherical Parallel Manipulator with a Universal Joint
Featuring Infinite Torsional Movement, by Guanglei Wu, Huiping Shen.- On the
Use of Instant Centers to Build Dynamic Models of Single-dof Planar
Mechanisms, by Raffaele Di-Gregorio, Guanglei Wu, Huiping Shen.- Normal forms
of robotic systems with affine Pfaffian constraints: A case study, by
Krzysztof Tchon, Joanna Ratajczak, Janusz Jakubiak.- Experimental
Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for
Improving Cable Tension Control Strategies, by Philipp Tempel, Felix
Trautwein, Andreas Pott.- Modelling.- A General Discretization-based Approach
for the Kinetostatic Analysis of Closed-loop Rigid/Flexible Hybrid
Mechanisms, by Genliang Chen, Zhuang Zhang, Zhengtao Chen, Hao Wang.- A
pure-inertia method for dynamic balancing of symmetric planar mechanisms, by
Jan De Jong, Yuanqing Wu, Marco Carricato, Just Herder.- Stiffness and
deformation of mechanisms with locally flexible bodies: a general method
using expanded passive joints, by Gonzalo Moreno, Julio Frantz, Lauro
Nicolazzi, Rodrigo de Souza Vieira, Daniel Martins.- Kinematic
Characteristics of Parallel Continuum Mechanisms, by Oscar Altuzarra, Diego
Caballero, Qiuchen Zhang, Francisco J. Campa.- Spatial Orientations of
Principal Vector Planes for Inherent Dynamic Balancing, by Volkert van der
Wijk.- Static Modeling of Sagging Cables With Flexural Rigidity and Shear
Forces, by Hussein Hussein, Marc Gouttefarde, François Pierrot.- From
Differential Geometry of Curves to Helical Kinematics of Continuum Robots
using Exponential Mapping, by Stanislao Grazioso, Giuseppe Di Gironimo, Bruno
Siciliano.- A ligament model based on fibre mapping for multibody
simulations, by Fabrizio Nardini, Nicola Sancisi, Vincenzo Parenti-Castelli.-
Generalized Path Following Constraints with Spatial Curves for Roller Coaster
Applications, by Jorge Ambrosio, Pedro Antunes, Mario Viegas.- Design.-
Line-Symmetric Motion Generators, by Yuanqing Wu, Marco Carricato.- Kinematic
Synthesis of Planar Multi-Limb Mechanisms for Multi-Directional Interaction
with Bodies in the Environment, by Nina Robson, Gim Song Soh.- A Novel Rotary
Positioner with Single Drive: Structural Analysis and Kinematic Design, by
Alexey Fomin, Victor A. Glazunov.- A new mechanism for the deployment of
modular solar arrays: kinematic and static analysis, by Stefano Seriani,
Paolo Gallina, Lorenzo Scalera, Alessandro Gasparetto, Armin Wedler.- Cable
Driven parallel Manipulators.- Energy Consumption Reduction of a Cable-Driven
Storage and RetrievalSystem, by Tobias Bruckmann, Christopher Reichert,
Hongqian Ji.- Computing cross-sections of the workspace of a cable-driven
parallel robot with 6 sagging cables having limited lengths, by Jean-Pierre
Merlet.- A Unified Approach to Forward Kinematics for Cable-driven Parallel
Robots based on Energy, by Andreas Pott, Philipp Tempel.- Kinematic Modeling
and Twist Feasibility of Mobile Cable-Driven Parallel Robots, by Tahir
Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro.- Kinetostatic
characterization of a loading system based on a partially-decoupled parallel
manipulator, by Giulio Spagnuolo, Nicola Sancisi, Rocco Vertechy, Vincenzo
Parenti-Castelli.- Biorobotics.- Kinematic analysis of a novel parallel
2SPRR+1U ankle mechanism in humanoid robot, by Shivesh Kumar, Abhilash Nayak,
Heiner Peters, Christopher Schulz, Andreas Mueller, Frank Kirchner.- Online
Calibration Procedure for Motion Tracking with Wearable Sensors using Kalman
Filtering, by Alessandro Filippeschi, Emanuele Ruffaldi, Lorenzo Peppoloni,
Carlo Alberto Avizzano.- Sensitivity analysis and identification of human
parameters for an adaptive, underactuated hand exoskeleton, by Antonio Di
Guardo, Mine Sarac, Massimiliano Gabardi, Daniele Leonardis, Massimiliano
Solazzi, Antonio Frisoli.- Gait phases detection using a 6 d.o.f. ankle joint
electro-goniometer, by Dung Cai, Philippe Bidaud, Long Triet Giang Huynh.-
Fluoroscopy Validation of Noninvasive 3D Bone-Pose Tracking Via External
Pressure-Foils, by Nikolas Bufe, Gregor Kuntze, Janet Lenore Ronsky, Andres
Kecskemethy.- Author index.
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