عنوان

Computational Kinematics '95 :

(Number (ISBN

940110333X

(Number (ISBN

9789401103336

Number

b594641

Title Proper

Computational Kinematics '95 :

General Material Designation

[Book]

Other Title Information

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

First Statement of Responsibility

edited by Jean-Pierre Merlet, Bahram Ravani.

Place of Publication, Distribution, etc.

Dordrecht

Name of Publisher, Distributor, etc.

Springer Netherlands

Date of Publication, Distribution, etc.

1995

Specific Material Designation and Extent of Item

(x, 310 pages)

Series Title

Solid mechanics and its applications, 40.

Text of Note

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.

Text of Note

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.

Parallel Title

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

Electronic name

[Book]

Y