Advances in Robot Kinematics: Mechanisms and Motion
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This book presents 53 independently reviewed papers which embody the latest advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion and biomechanics. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The contributors are recognised authorities in robot kinematics.
Dayton, Department of Mechanical & Aerospace Engineering Dayton, OH USA firstname.lastname@example.org Brian M. Korte and James P. Schmiedeler The Ohio State University, Department of Mechanical Engineering Columbus, OH USA email@example.com & firstname.lastname@example.org Abstract This paper presents a procedure to synthesize planar linkages, composed of rigid links and revolute joints, that approximate a shape change defined by a set of curves. These “morphing curves” differ from each other by a combination of
system of a leg is also called a leg-wrench system. Wrench system of UP-equivalent parallel kinematic chains. In any general configuration, a UP-equivalent parallel kinematic chain and its corresponding UP virtual chain have the same wrench system. Finding the wrench system of the UP-equivalent parallel kinematic chain is thus equivalent to finding the wrench system of the UP virtual chain [Fig. 1(b)]. It can be found without difficulty that the wrench system of the UPequivalent parallel
For comparison, a global optimization of different forces acting on the manipulator without null-space techniques should also be considered, with a weighted extended Jacobian approach. In addition, automatic techniques for the location of the VEEs should be of interest as well. Future work will also be devoted to add soft-computing techniques for both trajectory planning and inverse kinematics, and to consider integration with force control on real mobile robot manipulators. References
−0.15 −0.1 0.2 0 0.1 x (m) −0.15 −0.1 0.2 0 −0.05 −0.1 −0.15 −0.1 0 −0.05 −0.1 −0.15 y (m) 0.1 0.05 y (m) 0.1 0.05 y (m) y (m) 0.15 0 0.1 x (m) −0.1 0.2 0 0.1 x (m) 0.2 0.15 0.1 0.1 0.1 0.05 0.05 0.05 0.05 0 0 0.15 y (m) 0.15 0.1 y (m) 0.15 y (m) y (m) Figure 4. ZMP and projected CoM trajectories before and after stabilization of a standing posture in a translating moving environment when α = 1. 0 0 −0.05 −0.05 −0.05 −0.05 −0.1 −0.1 −0.1
translatory velocity di in the six prismatic legs, and therefore the side condition ν(q) is well defined. The weak point of this index is the objective function for the following reasons. First, it is not invariant under translations, because ζ(q) depends on the choice of O. In practice O is not selected arbitrarily, but placed in the tool center point. But the real problem, which causes the variance of cdn−1 under similarities, occurs from the dimensional inhomogeneity of ζ(q). To overcome this