By Jadran Lenarčič, Oussama Khatib (eds.)
The issues addressed during this booklet disguise the complete diversity of kinematic research, synthesis and layout and view robot structures owning serial, parallel and cable pushed mechanisms. The robot structures variety from being lower than totally cellular to kinematically redundant to over constrained.
The fifty-six contributions document the most recent ends up in robotic kinematics with emphasis on rising components equivalent to layout and regulate of humanoids or humanoid subsystems. The publication is of curiosity to researchers eager to carry their wisdom brand new concerning sleek 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 resources for Advances in Robot Kinematics
1–9. Springer, Dordrecht (2014) 7. : Wrench recovery for wire-actuated parallel manipulators, RoManSy 19-Robot design. In: Dynamics and Control, pp. 201–208. Springer (2013) 8. : Verified bounds for least squares problems and underdetermined linear system. SIAM J. Matrix Anal. Appl. 33, 130–148 (2012) A Deployable Parallel Wrist with Simple Kinematics Raffaele Di Gregorio Abstract The parallel-wrist (PW) architectures that can be manufactured from a single sheet and, then, packed into a multi-layer configuration are interesting for many applications that range from MEMS to space.
4001095 4. : Private communication. 13–08-20 (2013) The Hidden Robot Concept: A Tool for Control Analysis and Robot Control-Based Design Sébastien Briot, Victor Rosenzveig and Philippe Martinet Abstract Exteroceptive sensors can be used to estimate the robot pose in order to suppress inaccuracies coming from the accumulation of modelling errors when using the classical control approach. In some cases, it is impossible to directly observe the end-effector. Thus we can replace it efficiently by the observation of the legs directions.
The error grounding the proposed control law will be ei = c ui × c udi , where c udi is the desired value of c ui . e. e˙ = −λe). Then, introducing LiT = − c udi × MiT , where c udi × is the cross product matrix associated with the vector c udi , the control law can be derived: c τc = −λLT + e (3) 34 S. Briot et al. where LT can be obtained by stacking the matrices LiT of k legs and the upperscript “+” corresponds to the matrix pseudo-inverse. e. c Jinv c τc = q. It can be proven that the controller can meet numerical issues if: • the matrix LT is rank deficient: in that case, a null error vector e can lead to a non null platform twist c τc .
Advances in Robot Kinematics by Jadran Lenarčič, Oussama Khatib (eds.)