By Jadran Lenarčič, Oussama Khatib (eds.)
The subject matters addressed during this ebook hide the complete diversity of kinematic research, synthesis and layout and view robot structures owning serial, parallel and cable pushed mechanisms. The robot platforms variety from being lower than totally cellular to kinematically redundant to over constrained.
The fifty-six contributions file the newest leads to robotic kinematics with emphasis on rising components equivalent to layout and keep an eye on of humanoids or humanoid subsystems. The e-book is of curiosity to researchers eager to carry their wisdom brand new concerning smooth subject matters in a single of the fundamental disciplines in robotics, which pertains to the basic estate of robots, the movement of mechanisms.
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Extra info for Advances in Robot Kinematics
1b), the coordinates of Ai , i = 1, . . 5) meters, respectively. Error bounds of ±10 mm are considered for these coordinates and for the platform pose (when applicable). The null space bases of the 2×4 matrices JT and J˜ T are spanned by two 4×1 vectors. Example 1 At the platform pose of p = [0 0]T in the wrench closure workspace and for F = [0 24]T N, the minimum 2-norm vector of wire forces is τ p = J#T F = [−10 − 10 10 10]T N with negative tension for wires 1 and 2 and a magnitude of τ p 2 = 20.
4) wire i corresponds to the dominating wire with λdw . On the other hand, when the minimum 2-norm solution results in a wire tension larger than the maximum value that tension could be set to the limit and the procedure is repeated. The upper limit will be fulfilled as long as there is sufficient redundancy. The necessary condition for exceeding the upper limit after adjustment is τ˜ pk ≥ τmax − n˜ k λ. If n˜ i and n˜ k have opposite signs, n˜ i > 0 and n˜ k < 0, the upper limit is satisfied if τ˜ pk ≤ τmax + |n˜ k | λ.
The aim of the present chapter is to introduce the generalized concept of hidden robot model and to show why the tools used in mechanical design can be efficently applied in control analysis and how the hidden robot concept must modify the robot design methodologies in order to include control-based performance indices. 1 Cylindrical Leg Observation and Interaction Matrix The controller proposed in  is based on the fact that the robot leg directions c ui (extracted from the projection of the cylindrical link in the image space—Fig.
Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.)