Overview
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.
- | Author: J. -P Merlet
- | Publisher: Kluwer Academic Publishers
- | Publication Date: Aug 31, 1995
- | Number of Pages: 324 pages
- | Binding: Hardback or Cased Book
- | ISBN-10: 0792336739
- | ISBN-13: 9780792336730
