Home Analysis • Advances in Robot Kinematics: Analysis and Control by P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty

Advances in Robot Kinematics: Analysis and Control by P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty

By P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty (eds.)

The contributions during this booklet have been awarded on the 6th overseas symposium on Advances in robotic Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The previous symposia of the sequence came about in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever on the grounds that its first occasion, ARK has attracted the main remarkable authors within the zone and controlled to create an ideal mixture of professionalism and pleasant athmosphere. we're happy to monitor that, despite a powerful festival of many overseas meetings and conferences, ARK is constant to develop by way of the variety of contributors and when it comes to its medical influence. In its ten years, ARK has contributed to advance a extraordinary medical group within the quarter of robotic kinematics. The final 4 symposia have been organised lower than the patronage of the foreign Federation for the speculation of Machines and Mechanisms -IFToMM. curiosity to researchers, doctoral scholars and academics, The e-book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, layout, and keep an eye on of robots. it's divided into sections that have been came upon because the everyday components of the modern kinematics examine. because it can simply be spotted, a major a part of the ebook is devoted to numerous elements of the kinematics of parallel mechanisms that persist to be essentially the most beautiful parts of study in robotic kinematics.

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The following table gives this time as we move from a 4D to a 6D workspace. Xc Yc Zc 't/J () ¢ Time ±8 ± 8 53-58 0-20 0 0 1850 ms ±8 ± 8 53-58 0-20 0-20 0 2mn18s ±8 ± 8 53-58 0-20 0-20 0-20 4h15mn17s 6. Extension to workspaces defined by articular coordinates The previous algorithm may be extended to deal with the case where the box is defined by a set of ranges for the articular coordinates (for example to determine if they are singularities within the full workspace of the robot, being given limits on the leg extensions).

Di Gregorio, V. D. J. P. Murray, F. L. Keler: Dual expansion of an optimal in-parallel spherical platform device into a spatial one S. Wang, H. Hikita, N. Hanajima, M. Yamashita, Y. Zhao, Z. f. parallel mechanism with elastic joints T. Maier, C. Woernle: Inverse kinematics for an underconstrained cable suspension manipulator R. Verhoeven, M. Hiller, S. Tadokoro: Workspace, stiffness, singularities and classification of tendon-driven Stewart platforms A STUDY ON THE KINEMATICS OF A CLASS OF PARALLEL MANIPULATORS B.

However, when det J 6x6= 0 the mechanism has (at least locally) more than three dof and the pure translation is no longer controllable by the actuators. In other words the platform could still translate but the gained dof (because of singularity) is no longer controllable and the platform can actually rotate. Although a uniqueness theorem is not provided, a careful inspection of the structure of matrix J 6x6 shows that its determinant vanish and singularity conditions occur if: a) vectors w ll , W12 and W13 are parallel; b) vectors w 2(, W22 and W23 are parallel; c) in a leg vector Wli is parallel to vector W2i; d) at least two couples of vectors (Wli,W2i) span the same bi-dimensional vector space (plane).

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