عنوان

Computational Kinematics '95 :

940110333X

9789401103336

b594641

Computational Kinematics '95 :

[Book]

Proceedings of the Second Workshop on Computational Kinematics, held in Sophia Antipolis, France, September 4-6, 1995

edited by Jean-Pierre Merlet, Bahram Ravani.

Dordrecht

Springer Netherlands

1995

(x, 310 pages)

Solid mechanics and its applications, 40.

1 Kinematics Algorithms --; 1.1 Coordinate Free Criteria for Testing the Linear Dependence of the Sets of Screws --; 1.2 A Pseudo-dual Notation for Kinematic Calculations --; 1.3 Mobile Robot Localization by Cable-Extension Transducers --; 1.4 An Extension Theorem for Kinematic Systems of Equations --; 1.5 Applications of Clifford Algebras in Robotics --; 1.6 Elimination Methods for Spatial Synthesis --; 1.7 The Application of Finite Displacement Screws to Drawing Constraints --; 1.8 Real Root Counting for Some Robotics Problems --; 1.9 A Spatial Constraint Problem --; 1.10 Motor Tensor Calculus --; 2 Kinematics of Mechanisms --; 2.1 The Inverted Slider-Crank Used for the Design of an Approximated Straight-Line Mechanism --; 2.2 On the Choice of Independent Loops in Mechanism Kinematics --; 2.3 Symbolic and Numeric Computation for the Real-Time Simulation of a Car Behavior --; 2.4 On Minimum Joint Torque Configurations of Multiple-Link Manipulator --; 3. Singularities --; 3.1 A Determination of Singular Configurations of Serial Non-Redundant Manipulators, and Their Escapement from Singularities Using Lie Products --; 3.2 A General Criterion for the Identification of Nonsingular Posture Changing 3-DOF Manipulators --; 3.3 Identification and Classification of the Singular Configurations of Mechanisms --; 4. Workspace --; 4.1 Analytical Constraints for a Workspace Design of 2R Manipulators --; 4.2 A Hierarchical Representation of the Space Occupancy of a Robot Mechanism --; 4.3 Domains of Operation and Interference for Bodies in Mechanisms and Manipulators --; 4.4 Designing a Parallel Manipulator for a Specific Workspace --; 5. Parallel Manipulators --; 5.1 On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators --; 5.2 Stewart Platform Based 6-Axis Force and Torque Transducers --; 5.3 A Closed-Form Solution for the Direct Kinematics of a Special Class of Spherical Three-Degree-of-Freedom Parallel Manipulators --; 5.4 Algorithms for Kinematic Calibration of Fully-Parallel Manipulators --; 5.5 Parallel Redundant Manipulators Based on Open and Closed Normal Assur Chains --; 5.6 Forward Kinematics of a Parallel Manipulator with Additional Rotary Sensors Measuring the Position of Platform Joints --; 6 Motion and Grasp Planning --; 6.1 On the Modeling of Grasps with a Multi-Fingered Hand --; 6.2 A Special Class of C3 Rational Quartic Spline Curves for Two-Harmonic Trajectory Synthesis --; 6.3 Computing the Immobilizing Three-Finger Grasps of Planar Objects --; 6.4 A Dynamic Formulation for Planar Motions Using Geometric Kinematics and CAGD.

The trends and progress attained in computational kinematics over a broad class of problems are grouped into six parts describing the main themes: kinematics algorithms, discussing kinematics problems in light of their solution algorithms; kinematics of mechanisms, studying problems related to specific mechanisms; singularities; workspace, discussing the determination of the workspace of given mechanisms; parallel manipulators; motion and grasp planning, touching on computational geometry. The volume contains a representative sample of the most modern techniques available for kinetics problems, including techniques based on recent advances in algebraic geometry. Audience: Researchers, graduate students and practising engineers in work relating to kinematics, robotics, machine design and computer science.

Proceedings of the Second Workshop on Computational Kinematics held in Sophia Antipolis, France, September 4--6, 1995

Engineering.

Geometry, Algebraic.

Mathematics.

edited by Jean-Pierre Merlet, Bahram Ravani.

Bahram Ravani

Jean-Pierre Merlet

[Book]

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