Table Of ContentOn Advances in Robot Kinematics
On Advances in Robot Kinematics
Edited by
J. LENARCIC
lozef Stefan Institute,
Ljubljana, Slovenia
and
C. GALLETTI
University of Genoa,
Genoa, Italy
SPRINGER-SCIENCE+BUSINESS MEDIA, LLC
A c.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN 978-90-481-6622-0 ISBN 978-1-4020-2249-4 (eBook)
DOl 10.1007/978-1-4020-2249-4
Printed on acid-free paper
All Rights Reserved
© 2004 Springer Science+Business Media New York
Originally published by Kluwer Academic Publishers in 2004
Softcover reprint of the hardcover 1st edition 2004
No part of this work may be reproduced, stored in a retrieval system, or transmitted
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Contents
Methods in Kinematics
R. Vertechy and V. Parenti-Castelli
A fast and accurate method for the singular value decomposition
of 3 x 3 matrices 3
P.M. Larochelle, A.P. Murray and J. Angeles
SVD and PD based projection metrics on SE(n) 13
P. Fanghella and C. Galletti
Choice of independent coordinates in modular kinematics 23
F. Thomas, J.M. Porta and L. Ros
Distance constraints solved geometrically 31
M.J.D. Hayes, T. Luu and X-W. Chang
Kinematic mapping application to approximate type and dimen-
sion synthesis of planar mechanisms 41
LA. Parkin and C. Freeman
On the ruled surface generated by a linear combination screw 49
A. Kecskemethy
Lie-group first-order operations in rigid-body kinematics 57
A. Kecskemethy
First-order intrinsic properties of the rotation parameters SO (3),
quaternion and rotation vector 67
Properties of Mechanisms
B. Roth
Time-invariant properties of planar motions 79
A. Karger
Projective properties of parallel manipulators 89
v
vi
K. Wohlhart
Screw spaces and connectivities in multiloop linkages 97
M. Zoppi, D. Zlatanov and C.M. Gosselin
Kinematics equations of a class of 4DOF parallel wrists 105
H. Bamberger and M. Shoham
Kinematic structure of a parallel robot for MEMS fabrication 113
J.M. Porta, L. Ros and F. Thomas
Isolating self-motion manifolds on a playstation™ 123
J.M. Rico and B. Ravani
Mobility of spatial multi-loop and mixed linkages 133
Humanoids and Biomedical Applications
O. Khatib, J. Warren, V. De Sapio and L. Sentis
Human-like motion from physiologically-based potential energies 145
J. Babic and J. Lenarcic
Role of biarticular muscles in human jump 155
J.P. Schmiedeler, J.J. Stephens, C.R. Peterson and
W.G. Darling
Human hand movement kinematics and kinesthesia 163
M.C. Villa-Uriol, F. Kuester, N. Bagherzadeh, A. Perez and
J.M. McCarthy
Kinematic synthesis of avatar skeletons from visual data 171
H. Mayer, 1. Nagy and A. Knoll
Kinematics and modelling of a system for robotic surgery 181
R. Konietschke, T. Ortmaier, H. Weiss and G. Hirzinger
Manipulability and accuracy measures for a medical robot in
minimally invasive surgery 191
S. Lee and G.S. Chirikjian
Helix-Helix packing in proteins: The kinematics of interacting
line segments 199
Workspace and Isotropy
J.-P. Merlet
Analysis of the influence of wires interference on the workspace
of wire robots 211
Vll
P. Wenger, M. Baili and D. Chablat
Workspace classification of 3R orthogonal manipulators 219
F. Pernkopf and M.L. Husty
Workspace classification of Stewart-Gough manipulators with
planar base and platform 229
A. Pashkevich, D. Chablat and P. Wenger
The Orthoglide: Kinematics and workspace analysis 237
E. Ottaviano, M. Husty and M. Ceccarelli
A Cartesian representation for the boundary workspace of 3R
manipulators 247
R. Di Gregorio and V. Parenti-Castelli
Kinematic isotropy and dynamic performances in translational
parallel manipulators 255
G. Gogu
Fully-isotropic T3Rl-type parallel manipulators 265
Analysis of Mechanisms
C.M. Goehler and M.M. Stanisic
The singular planes of the articulated arm subassembly 275
B. Siciliano and L. Villani
Inverse kinematics with fuzzy redundancy resolution for a fire
fighting robot 283
A. Pott and M. Hiller
A force based approach to error analysis of parallel kinematic
mechanisms 293
J.A. Snyman and A.M. Hay
Analysis and optimization of a planar tendon-driven parallel ma-
nipulator 303
J. Bayat and C.D. Crane III
Closed-form equilibrium analysis of a planar tensegrity structure 313
D. Zlatanov, M. Zoppi and C.M. Gosselin
Singularities and mobility of a class of 4-DOF mechanisms 321
J.J. Gil, I. Zabalza, J. Ros, J.M. Pintor and J.M. Jimenez
Kinematics and dynamics of a 6-RUS Hunt-type parallel manip-
ulator by using natural coordinates 329
viii
Design of Mechanisms
K. Al-Widyan and J. Angeles
The robust design of Schonflies-motion generators 339
K. Wohlharl
Polyhedral Zig-Zag linkages 351
H. Pottman, M. Hofer and B. Ravani
Variational motion design 361
M. Karouia and J.M. Herve
New parallel wrists: Special limbs with motion dependency 371
T. G. Ghuneim, J. Angeles and S.P. Bai
The design of a novel pitch-roll wrist with spherical cam-roller
pairs 381
S.-H. Lee, T.A. Lasky and S.A. Velinsky
Design of a hybrid manipulator for painting highway signage 389
D. Salte and P. Bidaud
An optimal kinematic design for a highly dextrous MIS instru-
ment 399
G. Schreiber, A. Albu-Schiiffer, M. Fischer, F. Schoeppe and
G. Hirzinger
Achievable Cartesian stiffness with passively compliant, uncou-
pled joints 409
Motion Synthesis and Mobility
F.C. Park and K. Jo
Movement primitives and principal component analysis 421
J.M. Herve
Parallel mechanisms with pseudo-planar motion generators 431
G.!. Birbilis and N.A. Aspragathos
Multi-agent manipulator control and moving obstacle avoidance 441
M. Callegari, P. Marzetti and B. Olivieri
Kinematics of a parallel mechanism for the generation of spher-
ical motions 449
G. Artus, P. Morin, C. Samson
Control of a maneuvering mobile robot by transverse functions 459
lX
K. Tehon and J. Jakubiak
Acceleration-driven kinematics of mobile manipulators: An en-
dogenous configuration space approach 469
K. Zadarnowska
Dynamic dexterity and isotropy of mobile robots: An endoge-
nous configuration space approach 477
Author Index 485
Preface
In the last decade, we have seen an extraordinary progress in the the
ory and applications of robot kinematics. This has been motivated espe
cially by the development of complex parallel and humanoid robots. The
present book reports the most recent research advances in the theory,
design, control and application of robotic systems, which are intended
for a variety of purposes such as manipulation, manufacturing, automa
tion, surgery, locomotion and biomechanics. The issues addressed are
fundamentally kinematic in nature, including synthesis, calibration, re
dundancy, force control, dexterity, inverse and forward kinematics, kine
matic singularities, as well as over-constrained systems. Methods used
include line geometry, quaternion algebra, screw algebra, and linear alge
bra. These methods are applied to both parallel and serial multi-degree
of-freedom systems. The results should interest researchers, teachers
and students, in fields of engineering and mathematics related to robot
theory, design, control and application. This is the sixth book of the
series Advances in Robot Kinematics published by Kluwer.
The contributions in this book had been rigorously reviewed by in
dependent reviewers and fifty one articles had been recommended for
publication. They were introduced in seven chapters. These articles
were also reported and discussed at the ninth international symposium
on Advances in Robot Kinematics which was held in June 2004 in Sestri
Levante in Italy. The symposium was organized by the University of
Genova and co-organized by the Jozef Stefan Institute, Ljubljana, under
the patronage of IFToMM - International Federation for the Promotion
of Mechanism and Machine Science.
We are grateful to the authors of the articles for their valuable contri
butions and for their efficiency in preparing their manuscripts in time,
and to the reviewers for their timely reviews. We are also indebted to the
personnel at Kluwer for their excellent technical and editorial support.
Jadran Lenarcic and Carlo Galleti
Xl
Methods in Kinematics
R. Veriechy and V. Parenti-Castelli
A fast and accurate method for the singular value decomposition of 3x3
matrices
P.M. Larochelle, A.P. Murray and J. Angeles
SVD and PD based projection metrics on SE(n)
P. Fanghella and C. Galletti
Choice of independent coordinates in modular kinematics
F. Thomas, J.M. Poria and L. Ros
Distance constraints solved geometrically
x.-
M.J.D. Hayes, T. Luu and W. Chang
Kinematic mapping application to approximate type and dimension syn
thesis of planar mechanisms
l.A. Parkin and C. Freeman
On the ruled surface generated by a linear combination screw
A. Kecskemethy
Lie-group first-order operations in rigid-body kinematics
A. Kecskemethy
First-order intrinsic properties of the rotation parameters SO(3), quater
nion and rotation vector
1
