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Advances in Robot Kinematics 2020 [electronic resource] / Jadran Lenaréciéc, Bruno Siciliano, editors.

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Bibliographic Details
Online Access: Full Text (via Springer)
Corporate Author: International Symposium on Advances in Robot Kinematics Belgrade, Serbia
Other Authors: Lenarčič, J. (Jadran), Siciliano, Bruno, 1959-
Format: Electronic Conference Proceeding eBook
Language:English
Published: Cham : Springer, 2020.
Series:Springer proceedings in advanced robotics ; 15.
Subjects:
Robots > Kinematics > Congresses.
Robots > Kinematics.
Conference papers and proceedings.
Table of Contents:
  • Intro
  • Foreword
  • Preface
  • Organization
  • Conference Chairmen
  • Honorary Chairman
  • Scientific Committee
  • Organizing Committee Chair
  • Publications Chair
  • Contents
  • Advances in Robot Kinematics Facts and Thoughts
  • 1 Introduction
  • 2 Symposia and Related Books
  • 3 Conclusion
  • Inverse Kinematics Using a Converging Paths Algorithm
  • 1 Introduction
  • 2 Dual Quaternion Inverse Kinematics
  • 2.1 Product of Exponentials in Dual Quaternion Form
  • 2.2 Inverse Kinematics for the 2R Robot
  • 3 Converging Paths Algorithm
  • 3.1 Algorithm Description
  • 3.2 Numerical Example.
  • 4 Conclusion
  • References
  • Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism
  • 1 Introduction
  • 2 Mechanism Description
  • 2.1 Problem Formulation
  • 2.2 Characterization of the Static Workspace and the Stiffness Range
  • 3 Discussion of the Results
  • 4 Conclusion
  • References
  • Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance
  • 1 Introduction
  • 2 Synthesis from the Grand 4R Four-Bar Based Inherently Balanced Linkage Architecture
  • 3 Calculation of Parameter Values for Inherent Balance
  • 4 Conclusion.
  • 4 Motion Control and Functionalization
  • 5 Conclusions and Outlook
  • References
  • Modeling and Control of a Redundant Tensegrity-Based Manipulator
  • 1 Introduction
  • 2 Description and Modeling of the Manipulator
  • 3 Control Loop and Simulation
  • 4 Conclusions and Perspectives
  • References
  • Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation
  • Abstract
  • 1 Introduction
  • 2 Mathematical Background
  • 3 Motion Parameterization of the RAISE Parallel Robot
  • 4 Motion Parameterization of the RECOVER Ankle Module
  • 5 Results and Discussion
  • 6 Conclusion.
  • Acknowledgements
  • References
  • Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables
  • 1 Introduction
  • 2 CDPR Modelling
  • 3 Trajectory Planning by Input Shaping and Dynamic Scaling
  • 4 Numerical Example
  • 5 Conclusion
  • References
  • On the Plane Symmetric Bricard Mechanism
  • 1 Introduction
  • 2 Line in a Plane
  • 3 Fixed First Link
  • 4 Second Link Fixed
  • 5 Conclusion
  • References
  • Exact Coupler-Curve Synthesis of Four-Bar Linkages with Fully Analytical Solutions
  • 1 Introduction
  • 2 Problem Formulation
  • 3 Analytical Solution
  • 4 Example.

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