This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained.
In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.
Preface.- The Dual Generalized Inverses and Their Applications in
Kinematic Synthesis; Jorge Angeles.- On the Twist Recovery Methodologies
after Failure; Leila Notash.- A Loop-Based Approach for Rigid Subchain
Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres
Kecskemethy.- Self-Motions of Planar Projective Stewart Gough Platforms; G.
Nawratil.- Asymptotic Singularities of Planar Parallel 3-R Manipulators;
Michel Coste.- Classification of the Singularity Loci of m-n Fully-Parallel
Manipulators; Raffaele Di Gregorio.- Compensation of Compliance Errors in
Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr
Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland.- Motion
Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz
Jakubiak, Krzysztof Tcho'n and Mariusz Janiak.- Self-Calibration of
Redundantly Actuated PKM Based on Motion Reversal Points; Andreas Muller and
Maurizio Ruggiu.- Managing the Redundancy of $N-1$ Wire-Driven Parallel
Robots; J-P. Merlet.- Validation of a Power Grasping Algorithm for an
Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F.
Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano.- On the
Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé.- Kinematic
Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael
E. Vasquez, Carl D. Crane III and Julio C. Correa.- Motion Planning for
Parallel Robots with Non-Holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak,
Patrick Grosch and Federico Thomas.- Synthesis of a Family of Regular
Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai.- Type
Synthesis of Binary Actuated Parallel Mechanisms; D. Schutz, R.J. Ellwood, A.
Raatz and J. Hesselbach.-Biokinematic Study of Barn Owl Head Movements for
the Development of a Bio-Inspired Active Vision Robotic System; Ouriel
Barzilay, Yoram Gutfreund and Alon Wolf.- Robotic Fish Kinectics Design Based
on aFuzzy Control; Pei-Jun Lee and Wen-June Wang.- Persistent Screw Systems
of Dimension Four; Marco Carricato.- Simplified Voronoi Diagrams for Motion
Planning of Quadratically-Solvable Gough--Stewart Platforms; Rubèn Vaca, Joan
Aranda and Federico Thomas.- Dynamic Capabilities of a Parallel Robot Based
Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra.-
Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and
Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson.-
Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc
Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa
Ogasawara.- Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and
Bert Jttler.- Influence of Pulley Kinematics on Cable-Driven Parallel Robots
197; Andreas Pott.- Fast Approximate Implicitization of Envelope Curves
Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert J?ttler and Tino
Schulz.- Kinematics of an Overconstrained 6R Linkage with 2-Fold
Rotational Symmetry; Ketao Zhang and Jian S. Dai.- Construction of
Overconstrained Linkages by Factorization of Rational Motions; Gábor Heged?s,
Josef Schicho and Hans-Peter Schröcker.- Bond Theory and Closed 5R Linkages;
Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Design and Control of
a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc
Gouttefarde, Micaël Michelin and Olivier Tempier.- Planning Singularity-Free
Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat
Manubens and Lluìs Ros.- Orientation Capability of 3-RPSR Parallel Mechanism
for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada,
Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu.- Investigation of a
Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces,
Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk
and J.L. Herder.- Auto CalibrationMethod for Cable-Driven Parallel Robots
Using Force Sensors; Philipp Miermeister and Andreas Pott.-Protein Folding
Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor
Petuya, Monica Urizar and Alfonso Hernandez.- Sufficient Conditions for the
Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph
Woernle.- Some Rigid-Body Constraint Varieties Generated by Linkages; J.M.
Selig.- Constraint-Consistent Analysis of Muscle Force Contributions to Human
Gait; Emel Demircan and Oussama Khatib.- Inherently Balanced 4R Four-Bar
Based Linkages; V. van der Wijk and J.L. Herder.- Integrated Type and
Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John
D. Hayes.- Positional Workspace Boundary for Serial Manipulators with
Revolute Joints; Ciprian S. Borcea and Ileana Streinu.- Kinematics Analysis
of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and
N. Plitea.- Constraint Singularity-Free Design of the IRSBot-2; Coralie
Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger.- Human Muscle
Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and
Liang Ma.- Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot
for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and
P. Wenger.- Inverse Geometrico-Static Analysis of Under-Constrained
Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem
Abbasnejad and Dominic Walter.- The Kinematotropic 3-CPU Parallel Robot:
Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and
Massimo Callegari.- A Planar Compliant Mechanism with RRP Mobilities Based on
the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert,
Stèphane Caro, Pierre Renaud and Jacques Gangloff.- Velocity Level Kinematic
Analysis of Serial $n$A-Chains; James D. Robinson and M. John D. Hayes.-
Singular Manifold of the General Hexagonal Stewart Platform Manipulator;
Viswanath Shanker and SandipanBandyopadhyay.- Trajectory Planning for Systems
with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit
Bhattacharya and Vijay Kumar.- Dynamics of the Upper Limb with a Detailed
Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and
Jacinto Monteiro.- Inverse Kinematics for the Control of Hyper-Redundant
Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M.
Bilton and Steven Dubowsky.- Mobile Robot Motion Primitives That Take into
Account the Cost of Control; Sohee Lee and Frank Chongwoo Park.- Synthesis of
Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding
Locations; P. Larochelle.- On the Role of Passive Structures in the Knee
Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli.- Name
Index.- Subject Index.
