By Jadran Lenarčič, Oussama Khatib (eds.)
The issues addressed during this e-book disguise the complete diversity of kinematic research, synthesis and layout and look at robot structures owning serial, parallel and cable pushed mechanisms. The robot structures variety from being under absolutely cellular to kinematically redundant to over constrained.
The fifty-six contributions record the most recent ends up in robotic kinematics with emphasis on rising parts resembling layout and keep an eye on of humanoids or humanoid subsystems. The ebook is of curiosity to researchers eager to convey their wisdom brand new relating to smooth issues in a single of the fundamental disciplines in robotics, which pertains to the fundamental estate of robots, the movement of mechanisms.
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Extra resources for Advances in Robot Kinematics
In opposite directions so as to maintain their mid-planes on a fixed point M. Operating on the points A, B, C, D, E, F in EE with the rotation matrix populated with Euler parameters (also known as quaternion elements) and equating the appropriate coordinate differences to the three separation distances provides the necessary three–four, if one includes the quaternion norming condition-equations to reveal the rotation, its axis expressed by the unit vector [cos α cos β cos γ ] and its angle by φ taken in a right handed sense with respect to sense given by the direction cosine unit vector, necessary to separate the octahedron Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator 25 opposite vertex pairs according to the distance between parallel plane pairs in the Cartesian directions peculiar to FF.
See ). 36 S. Briot et al. (a) (b) E3 A3 u1 v1 v3 coupler curve D3 coupler curve C2 C3 w2=v2 C1 D1 E1 u3 B3 w3=v3 vertex space of the 3rd leg B1 A1 w1=v1 B2 v2 u2 D2 A2 E2 vertex spaces of the 1st and 2nd legs Fig. 3 The hidden robot model of the 3–RRR robot and its hidden robot model. a 3– RR robot kinematics, b the six possible assembly modes Point 2: In many cases, the hidden robot may have assembly modes and singular configurations different from those of the real robot. g. see [6, 12]). Point 3: The interaction matrix MT involved in the controller is the inverse kinematic matrix of the hidden robot (and, consequently, MT + is the hidden robot kinematic matrix) which, is most of cases, is not free of singularities.
3b). Singular configurations. The Type 1 singularities of 3– RR robot appear when one leg is fully streched or folded. Its Type 2 singularities appear when the lines of direction wi (i = 1, 2, 3—Fig. 3a) passing through points Ci intersects in the same point (that can be at infinity). Those conditions are different from the Type 2 singular configurations of the 3– RR robot, for which they appear when all lines passing through Ci of direction ui intersects in one point . g. g. )—can be efficiently used in control design and analysis.
Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.)