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Author International Symposium on Advances in Robot Kinematics (16th : 2020 : Belgrade, Serbia)

Title Advances in Robot Kinematics 2020 / Jadran Lenaréciéc, Bruno Siciliano, editors
Published Cham : Springer, 2020
©2020

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Description 1 online resource (xiv, 360 pages)
Series Springer Proceedings in Advanced Robotics ; v. 15
Springer proceedings in advanced robotics ; v. 15
Contents Advances in Robot Kinematics Facts and Thoughts -- Inverse Kinematics Using a Converging Paths Algorithm -- Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism -- Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance -- A Compliant Linkage for Cooperative Object Manipulation Through a Heterogeneous Mobile Multi-robot System -- One Degree of Freedom 7-R Closed Loop Linkage as a Building Block of Nanorobots -- Modeling and Control of a Redundant Tensegrity-Based Manipulator -- Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation -- Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables -- On the Plane Symmetric Bricard Mechanism -- Exact Coupler-Curve Synthesis of Four-Bar Linkages with Fully Analytical Solutions -- A General Method for Determining Algebraic Input-Output Equations for Planar and Spherical 4R Linkages -- The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables -- The Geometrical Arrangement of Joint Constraints that Makes Natural Motion Possible: Experimental Verification on the Ankle -- Development of a Vector Geometrical Model for PKM Identification -- Wohlhart's Three-Loop Mechanism: An Overconstrained and Shaky Linkage -- Invariants for Multi-twists, Screw Systems and Serial Manipulators -- Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor -- Singularities in the Image-Based Visual Servoing of Five Points -- Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle -- Algebraic Analysis of 3-RRC Parallel Manipulators -- Magneto-Inertial Data Sensory Fusion Based on Jacobian Weighted-Left-Pseudoinverse -- Evaluating the Snappability of Bar-Joint Frameworks -- Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions -- Evaluating the Snappability of Bar-Joint Frameworks -- Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions -- A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics -- Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots -- A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys -- Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms -- Degeneration to Infinity May Provide Information About Kinematics -- Kinematic Synthesis of a Modified Jansen Leg Mechanism -- Exponential Displacement Coordinates by Means of the Adjoint Representation -- A Comparative Study on 2-DOF Variable Stiffness Mechanisms -- Kinematics and Orientation Workspace of a 3-DOF Parallel Robotic Wrist Actuated by Spherical Four-Bar Linkages -- On Singularity and Instability in a Planar Parallel Continuum Mechanism -- Modeling and Simulation of Hybrid Soft Robots Using Finite Element Methods: Brief Overview and Benefits -- Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM) -- Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control
Notes Includes author index
Print version record
Subject Robots -- Kinematics -- Congresses
Artificial intelligence.
Maths for scientists.
Technical design.
Robotics.
Technology & Engineering -- Engineering (General)
Technology & Engineering -- Robotics.
Computers -- Computer Science.
Technology & Engineering -- Industrial Design -- Product.
Robots -- Kinematics
Genre/Form proceedings (reports)
Conference papers and proceedings
Conference papers and proceedings.
Actes de congrès.
Form Electronic book
Author Lenarčič, Jadran
Siciliano, Bruno
ISBN 9783030509750
3030509753