Computational Kinematics '95 : Proceedings: Workshop on Computational Kinematics Held in Sophia Antipolis, France, September 4-6, 1995

Proceedings: Workshop on Computational Kinematics Held in Sophia Antipolis, France, September 4-6, 1995

By: Bahram Ravani (Editor), J.-P. Merlet (Editor)

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Hardcover | 1 August 1995

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324 Pages

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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.

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Preface
Coordinate Free Criteria for Testing the Linear Dependence of the Sets of Screws	p. 1
A Pseudo-dual Notation for Kinematic Calculations	p. 11
Mobile Robot Localization by Cable-Extension Transducers	p. 19
An Extension Theorem for Kinematic Systems of Equations	p. 31
Applications of Clifford Algebras in Robotics	p. 41
Elimination Methods for Spatial Synthesis	p. 51
The Application of Finite Displacement Screws to Drawing Constraints	p. 63
Real Root Counting for Some Robotics Problems	p. 73
A Spatial Constraint Problem	p. 83
Motor Tensor Calculus	p. 93
The Inverted Slider-Crank Used for the Design of an Approximated Straight-Line Mechanism	p. 103
On the Choice of Independent Loops in Mechanism Kinematics	p. 113
Symbolic and Numeric Computation for the Real-Time Simulation of a Car Behavior	p. 123
On Minimum Joint Torque Configurations of Multiple-Link Manipulator	p. 133
A Determination of Singular Configurations of Serial Non-Redundant Manipulators, and Their Escapement from Singularities Using Lie Products	p. 143
A General Criterion for the Identification of Nonsingular Posture Changing 3-DOF Manipulators	p. 153
Identification and Classification of the Singular Configurations of Mechanisms	p. 163
Analytical Constraints for a Workspace Design of 2R Manipulators	p. 173
A Hierarchical Representation of the Space Occupancy of a Robot Mechanism	p. 183
Domains of Operation and Interference for Bodies in Mechanisms and Manipulators	p. 193
Designing a Parallel Manipulator for a Specific Workspace	p. 203
On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators	p. 213
Stewart Platform Based 6-Axis Force and Torque Transducers	p. 221
A Closed-Form Solution for the Direct Kinematics of a Special Class of Spherical Three-Degree-of-Freedom Parallel Manipulators	p. 231
Algorithms for Kinematic Calibration of Fully-Parallel Manipulators	p. 241
Parallel Redundant Manipulators Based on Open and Closed Normal Assur Chains	p. 251
Forward Kinematics of a Parallel Manipulator with Additional Rotary Sensors Measuring the Position of Platform Joints	p. 261
On the Modeling of Grasps with a Multi-Fingered Hand	p. 271
A Special Class of C3 Rational Quartic Spline Curves for Two-Harmonic Trajectory Synthesis	p. 281
Computing the Immobilizing Three-Finger Grasps of Planar Objects	p. 291
A Dynamic Formulation for Planar Motions Using Geometric Kinematics and CAGD	p. 301
Table of Contents provided by Blackwell. All Rights Reserved.

Computational Kinematics '95 : Proceedings: Workshop on Computational Kinematics Held in Sophia Antipolis, France, September 4-6, 1995

Proceedings: Workshop on Computational Kinematics Held in Sophia Antipolis, France, September 4-6, 1995

At a Glance

Hardcover

Shipping

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