Advances in Robot Kinematics: Analysis and Design Book

Preface; SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS; A New Assessment of Singularities of Parallel Kinematic Chains , by Michele Conconi and Marco Carricato; Singularity Analysis through Static Analysis , by J. Hubert and J.-P. Merlet; Constraint Singularities and the Structural Parameters of Parallel Robots , by Grigore Gogu; Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator , by Xianwen Kong; Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility , by Tanio K. Tanev; SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra , by Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat and Philippe Wenger; Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra , by Daniel Kanaan, Philippe Wenger and Damien Chablat; DESIGN OF ROBOTS AND MECHANISMS; On the Design of Fully Constrained Parallel Cable-Driven Robots , by M. Gouttefarde, S. Krut, O. Company, F. Pierot and N. Ramdani; Synthesis of Part Orienting Devices for Spatial Assembly Tasks , by P. Larochelle; Minimum EnergyManipulator Design , by A. Rojas Salgado and Y. Ledezman Rubio; Synthesis and Analysis of a Constrained Spherical Parallel Manipulator , by G.S. Soh and J.M. McCarthy; A Nonholonomic 3-DOF Parallel Robot , by Patricia Ben-Horin and Federico Thomas; 4DOF Parallel Architecture for Laparoscopic Surgery , by Mohammad Aamir Khan, Matteo Zoppi and Rezio Molfino; Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control , by Ch. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux; Extended Jacobian Inverse Kinematics and Approximation of Distributions , by Mariusz Janiak and Krzysztof Tchón; A Screw Syzygy with Applications to Robot Singularity Computation , by J.M. Selig and Peter Donelan; Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators , by Krzysztof Tchón and Lukasz Malek; Robots Based on Assur Group A (3.5) , by Karl Wohlart; Kinematics of Free-Floating Systems through Optimal Control Theory , by G. Le Vey; Genericity Conditions for Serial Manipulators , by Peter Donelan; Alternative Forms for Displacement Screws and Their Pitches , by I.A. Parkin; MOTION PLANNING AND MOBILITY; Time-Invariant Strategies in Coordination of Human Reaching , by Satyajit Ambike and James P. Schmiedeler; Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms , by A. Müller and J.M. Rico; Optimization of a Test Trajectory for SCARA Systems , by J.-F. Gauthier, J. Angeles and S. Nokleby; Singularity Free Path Planning for Parallel Robots , by Samir Lahouar, Saïd Zeghloul and Lotfi Romdhane; A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators , by J.A. Carretero, I. Ebrahimi and R. Boudreau; Trajectory Planning of Parallel Manipulators for Global Performance Optimization , by Ofelia G. Alba-Gómez, J. Alfonso Pamanes and Philippe Wenger; Human Motion Reconstruction by Direct Control of Marker Trajectories , by Emel Demircan, Luis Sentis, Vincent De Sapio and Oussama Khatib; PERFORMANCE AND PROPERTIES OF MECHANISMS; New Self-Motions of Parallel Manipulators , by Adolf Karger; Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions , by Margot Rabl, Bert Jüttler and Laureano Gonzalez-Vega; A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator , by Giovanni Berselli, Rocco Vertechy, Gabriele Vassura and Vincenzo Parenti Castelli; Transitions between Multiple Solutions of the Direct Kinematic Problem , by E. Macho, O. Altuzarra, C. Pinto and A. Hernandez; Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation , by N. Rakotomanga, D. Chablat and S. Caro; Results on Planar Parallel Manipulators with Cylindrical Singularity Surface , by G. Nawratil; Stiffness Matrix of Compliant Parallel Mechanisms , by C. Quennouelle and C.M. Gosseli; MEASURE AND CALIBRATION; A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors , by Sébastien Briot and Ilian A. Bone; Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field , by Philippe Cardou and Jorge Angeles; A Novel Point of View to Define the Distance between Two Rigid-Body Poses , by Raffaele Di Gregorio; Parallel Robot Calibration by Working Mode Change , by P. Last, C. Budde, D. Schütz, J. Hesselbach and A. Raatz; AugmentedModel of the 3-PRS Manipulator for Kinematic Calibration , by Steven M. O’Brien and Juan A. Carretero; The Calibration of a Parallel Manipulator with Binary Actuation, by Jean-Sébastien Plante and Steven Dubowsky; Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius , by Sébastien Barthélemy and Philippe Bidaud; KINEMATIC ANALYSIS AND WORKSPACE; A Geometrical Characterization of Workspace Singularities in 3R Manipulators , by M. Husty, E. Ottaviano and M. Ceccarelli; Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs , by Carl D. Crane III, Jahan Bayat, Vishesh Vikas and Rodney Roberts; Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points , by Agostino De Santis and Bruno Siciliano; On the Delassus Parallelogram , by Chung-Ching Lee and Jacques M. Hervé; Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications , by Andreas Pott; Kinematic Modeling and Workspace Generation for a New Paralell Robot Used in Minimally Invasive Surgery , by Doina Pisla, Nicolae Plitea and Calin Vaida; Author Index; Subject Index