Advances in Robot Kinematics: With Emphasis on Symbolic Computation

Description

This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990. The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics. Front Matter ....Pages i-xiv Front Matter ....Pages 1-1 A Scale-Independent and Frame-Invariant Index of Kinematic Conditioning for Serial Manipulators (Jorge Angeles)....Pages 2-9 Computer Algebra systems, new trends (Marc Gaëtano)....Pages 10-16 Dexterous Manipulation: A Geometric Approach (Bhubaneswar Mishra)....Pages 17-25 Front Matter ....Pages 27-27 Adaptative Grid for Autonomous Robot, Environment Modeling (V. Boschian, A. Pruski, C. Laurent)....Pages 28-36 Industrial Robots: Application of a Rational Solution for the Direct and Inverse Dynamic Problem (Federico Casolo, Rodolfo Faglia, Giovanni Legnani)....Pages 37-46 Algorithmization of Kinematic Modelling of Industrial Robots (G. Gogu)....Pages 47-54 Imaginary Kinematics (Peter Kovesi)....Pages 55-62 An Efficient Computational Method of the Jacobian for Robot Manipulators (Chang-Jin Li, A. Hemami, T. S. Sankar)....Pages 63-70 On Determining Parameters of the Twist-Axis for the Finite Displacement of a Body (I. A. Parkin)....Pages 71-80 A Summary of the Theory and Application of the Conics Method in Robot Kinematics (David R. Smith, Harvey Lipkin)....Pages 81-88 Kinematic modelling of tasks under constraints. Application to fine motion and calibration (Thierry Tran, Alain Giraud)....Pages 89-98 Modal Formulations for the Dynamics of Flexible Manipulators and Large Space Structures (E. Wehrli, P. Coiffet)....Pages 99-107 Kinematic Model of a Robot Hand and Computation of Grasp Matrix using Screw Systems (Miloš Žefran, Tadej Bajd)....Pages 108-115 Front Matter ....Pages 117-117 Global Determination of the Minimal Set of Inertial Parameters of Robots Having Open or Closed-Loop Kinematic Structures (P. Desbats, A. Micaelli)....Pages 118-127 A Singularity Free Six Degree of Freedom Manipulator (F. Di Caprio, S. S. Khanuja, M. M. Stanišić, O. Duta)....Pages 128-135 Evaluation of Loop Constraints of General Closed-Chain Linkages (H. J. Kang, R. A. Freeman)....Pages 136-143 Identification of Robot Kinematic Parameters for the Nearly Parallel Joints (D. H. Kim, K. H. Kuk, J. H. Oh)....Pages 144-152 Computer-Aided Animation in Robot Kinematics (Tatu Leinonen, Asko Päärni)....Pages 153-160 Considerations on Human Arm Workspace and Manipulability (J. Lenarčič, A. Umek, S. Savić)....Pages 161-170 A Procedure for the Symbolic Computation of a Dexterity Measure for Robot Manipulators (R. V. Mayorga, B. Ressa, A. K. C. Wong, N. Milano)....Pages 171-178 Kinematics of Long-Chain Variable Geometry Truss Manipulators: An Overview of Solution Techniques (Robert J. Salerno, Charles F. Reinholtz, Sanjay G. Dhande)....Pages 179-187 Inventory Designing of Kinematic Structures of Grippers (Stefan Valencik, Miroslav Badida, Milan Majernik)....Pages 188-199 Front Matter ....Pages 201-201 Application of Symbolic Computation in Analytic Determination of the Null Space of Human Arm Kinematics (Zhaoyu Wang, Kazem Kazerounian)....Pages 202-209 Implementation of a Real-Time Trajectory Planner Incorporating End-Effector Collision Avoidance for a Manipulator Arm (C. L. Boddy)....Pages 210-217 Experience With an Off-Line Programming and Simulation System for an Underwater Handling System (M. Böke, E. Aust, H.-J. Deeg, G. F. Schultheiss)....Pages 218-226 Robot Obstacle Avoidance Using Vortex Fields (Claudio De Medio, Giuseppe Oriolo)....Pages 227-235 Kinestatic Filtering for Hybrid Control of Constrained Rigid Body Motion (K. L. Doty, C. Bonivento, C. Melchiorri)....Pages 236-247 The Fallacy of Modern Hybrid Control Theory for the Simultaneous Control of Force and Motion (J. Duffy, M. Griffis, M. Swinson)....Pages 248-258 Dynamic Programming in Robot Path Planning (Sašo Flac, Peter Cafuta, Karel Jezernik)....Pages 259-266 A Multiple Robot Simulation and Remote Control Environment Utilizing a Computer Graphics Display (D. M. Griffith, R. J. Cipra)....Pages 267-274 A Distributed Control Method of Kinematics and Dynamics for Cell Array Structured Manipulators (R. Hashimoto, Y. Kuba, M. Wada, H. Endo)....Pages 275-282 Controllability Issues of Robots near Singular Configurations (Lars Nielsen, Carlos Canudas de Wit, Per Hagander)....Pages 283-290 Coordination of Rays Near a Simple Polygon. Constraint Decomposition (Rudi Penne)....Pages 291-299 Front Matter ....Pages 301-301 Displacement Analysis of the Homogeneous, Orthogonal 7-Link 7R Space Mechanism (P. Dietmaier)....Pages 302-309 Automatic Kinematic Modelling of Robot Manipulators and Symbolic Generation of their Inverse Kinematics Solutions (Dan Halperin)....Pages 310-317 Automatic Derivation of the Inverse Geometric Model of Robots (W. Khalil, F. Bennis)....Pages 318-325 Minimum Degree Solutions for the Inverse Kinematics Problem by Application of the Buchberger Algorithm (Peter Kovács)....Pages 326-334 Inverse Kinematics of Not Fully Serial Robot Linkages With Nonsingular Wrists (Veljko Milenkovic, Victor J. Milenkovic, Paul H. Milenkovic)....Pages 335-342 Symbolic Computation of Closed Form Solutions with Prototype Equations (H. Rieseler, H. Schrake, F. M. Wahl)....Pages 343-351 Joint Solutions Derived via Optimization Technique under Formal Separation of Joint Variables (Shinobu Sasaki, Yoshikuni Shinohara)....Pages 352-361 Differential Kinematic Analysis of General 6R Robot Manipulators Without the Inverse of Jacobian Matrix (Michael Valášek)....Pages 362-369 Using a Fast Signal Processor to Solve the Inverse Kinematic Problem (Bertil Waldén)....Pages 370-378 Front Matter ....Pages 379-379 Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles (M. Anthimopoulou, N. Aspragathos)....Pages 380-391 Kinematics of Hyper-Redundant Manipulators (Gregory S. Chirikjian, Joel W. Burdick)....Pages 392-399 On Accuracy Control Aspects of Kinematically Redundant Robots (A. Moshaiov)....Pages 400-407 A New Second-Order Inverse Kinematics Solution for Redundant Manipulators (Zoran R. Novaković, Bruno Siciliano)....Pages 408-415 Performance Analysis of Kinematic and Actuation Redundancy in a Closed Link Manipulator (Timo Ropponen, Yoshihiko Nakamura)....Pages 416-426 Multi-Point Compliance Control for Redundant Manipulators (Toshio Tsuji, Toshiaki Takahashi, Koji Ito)....Pages 427-434 Front Matter ....Pages 435-435 The Kinematics of a Parallel-Linkage Robot (D. M. J. Harris, D. McCloy)....Pages 436-443 Modeling of A Parallel Wrist Mechanism With Actuator Redundancy (Vincent Hayward, Ronald Kurtz)....Pages 444-456 A New Kinematic Model for the Closure Equations of the Generalized Stewart Platform Mechanism (C. Innocenti, V. Parenti-Castelli)....Pages 457-464 Symbolic computation for the Determination of the Minimal direct kinematics Polynomial and the Singular configurations of parallel manipulators (J.-P. Merlet)....Pages 465-475 Parallel Structures for Robot Wrists (François Pierrot, Etienne Dombre)....Pages 476-484 Back Matter ....Pages 485-485