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Author International Workshop on Computational Kinematics (6th : 2013 : Barcelona, Spain)

Title Computational Kinematics : Proceedings of the 6th International Workshop on Computational Kinematics (CK2013) / Federico Thomas, Alba Perez Gracia, Editors
Published Dordrecht : Springer, 2014
Online access available from:
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Description 1 online resource (xi, 409 pages) : illustrations (some color)
Series Mechanisms and Machine Science, 2211-0984 ; 15
Mechanisms and machine science ; 15. 2211-0984
Contents On the minimum 2-norm positive tension for wire-actuated parallel manipulators / Leila Notash -- Further analysis of the 2-2 wire-driven parallel crane / J.-P. Merlet -- Some rational vehicle motions / J.M. Selig -- Topological representation and operation of motion space exchange reconfiguration of metamorphic mechanisms / Shujun Li [and five others] -- Classification of singularities in kinematics of mechanisms / Samuli Piipponen, Teijo Arponen and Jukka Tuomela -- Non-existence of planar projective Stewart Gough platforms with elliptic self-motions / Georg Nawratil -- Direct geometrico-static problem of underconstrained cable-driven parallel robots with five cables / Ghasem Abbasnejad and Marco Carricato -- Uniform and efficient exploration of state space using kinodynamic sampling-based planners / Rakhi Motwani, Mukesh Motwani and Frederick C. Harris Jr. -- Shape modeling of continuous-curvature continuum robots / Shaoping Bai -- Dimensional synthesis of a spatial orientation 3-DoF parallel manipulator by characterizing the configuration space / M. Urizar [and three others] -- Self-calibration of redundantly actuated PKM exploiting kinematic landmarks / Andreas Muller and Maurizio Ruggiu -- Solving the forward kinematics of cable-driven parallel robots with neural networks and interval arithmetic / Valentin Schmidt, Bertram Muller and Andreas Pott -- Three types of parallel 6R linkages / Zijia Li and Josef Schicho -- Positioning two redundant arms for cooperative manipulation of objects / Adria Colome and Carme Torras -- A sufficient condition for parameter identifiability in robotic calibration / Thibault Gayral and David Daney -- An improved force distribution algorithm for over-constrained cable-driven parallel robots / Andreas Pott -- An open-source toolbox for motion analysis of closed-chain mechanisms / Lluis Ros [and five others] -- Spherical parallel mechanism with variable target point / Tsuyoshi Ikeda, Yukio Takeda and Daisuke Matsuura -- A blend of Delassus four-bar linkages / Chung-Ching Lee and Jacques M. Herve -- On the symmetric molecular conjectures / Josep M. Porta [and four others] -- Stiffness modeling of robotic manipulator with gravity compensator / Alexandr Klimchik [and five others] -- Computational algorithm for determining the generic mobility of floating planar and spherical linkages / Offer Shai and Andreas Muller -- Determination of the safe working zone of a parallel manipulator / Rangaprasad Arun Srivatsan and Sandipan Bandyopadhyay
Certified calibration of a cable-driven robot using interval contractor programming / Julien Alexandre dit Sandretto [and three others] -- Framework comparison between a multifingered hand and a parallel manipulator / Julia Borras and Aaron M. Dollar -- A novel mechanism with redundant elastic constraints for an actual revolute joint / Delun Wang [and three others] -- Obtaining the maximal singularity-free workspace of 6-UPS parallel mechanisms via convex optimization / Amirhossein Karimi, Mehdi Tale Masouleh and Philippe Cardou -- Type synthesis of two DOF hybrid translational manipulators / Latifah Nurahmi, Stephane Caro and Sebastien Briot -- Robust dynamic control of an arm of a humanoid using super twisting algorithm and conformal geometric algebra / O. Carbajal-Espinosa [and three others] -- Singularity locus for the endpoint map of serial manipulators with revolute joints / Ciprian S. Borcea and Ileana Streinu -- Robust design synthesis of spherical parallel manipulator for dexterous medical task / Abdelbadia Chaker [and four others] -- Self dual topology of parallel mechanisms with configurable platforms / Patrice Lambert and Just L. Herder -- Four-dimensional persistent screw systems of the general type / Marco Carricato -- Determination of maximal singularity-free workspace of parallel mechanisms using constructive geometric approach / Mohammad Hadi Farzaneh Kaloorazi [and three others] -- Kinematic design of two elementary 3DOF parallel manipulators with configurable platforms / Antonius G.L. Hoevenaars, Patrice Lambert and Just L. Herder -- Single exponential motion and its kinematic generators / Guanfeng Liu, Yuanqin Wu and Xin Chen -- Foundations for the approximate synthesis of RCCC motion generators / Jorge Angeles -- The 3-RPS manipulator can have non-singular assembly-mode changes / Manfred Husty [and three others] -- Exact workspace synthesis for RCCR linkages / Batchimeg Batbold [and three others] -- A closed-form solution of spatial sliders for rigid-body guidance / Chintien Huang, Weiche Huang and Gokhan Kiper -- A Cartesian cable-suspended robot for aiding mobility / Gianni Castelli and Erika Ottaviano -- Evaluating the spatial compliance of circularly curved-beam flexures / Farid Parvari Rad [and three others] -- Kinematic analysis of slider-cranks derived from the [mathematical symbol]-mechanism / Erika Ottaviano, Pierluigi Rea and Marco Conte -- Improved muscle wrapping algorithms using explicit path-error Jacobians / Andreas Scholz [and four others] -- Erratum to: Computational kinematics / Federico Thomas and Alba Perez Gracia
Summary Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph. D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics
Notes International conference proceedings
Includes indexes
Bibliography Includes bibliographical references and indexes
Notes Online resource; title from PDF title page (SpringerLink, viewed October 21, 2013)
Subject Kinematics -- Data processing -- Congresses.
Robotics -- Congresses.
Genre/Form Conference papers and proceedings.
Conference papers and proceedings.
Form Electronic book
Author Thomas, F. (Federico), editor
PĂ©rez Gracia, Alba, editor
ISBN 9400772130
9400772149 (electronic bk.)
9789400772144 (electronic bk.)
Other Titles CK2013