Research Catalog

Title

Computational kinematics / edited by Jorge Angeles, Günter Hommel and Peter Kovács.

Publication

Dordrecht ; Boston : Kluwer Academic Publishers ; Norwell, MA : Sold and distributed in the U.S.A. and Canada by Kluwer Academic Publishers, [1993], ©1993.

Items in the Library & Off-site

Holdings

Details

Additional Authors

• Angeles, Jorge, 1943-
• Hommel, Günter.
• Kovács, Péter.
• Workshop on Computational Kinematics (1993 : Dagstuhl Castle, Germany)

Description

ix, 306 pages : illustrations; 25 cm.

Series Statement

Solid mechanics and its applications ; v. 28

Uniform Title

Solid mechanics and its applications ; v. 28.

Subject

• Kinematics > Data processing > Congresses

Note

• "Proceedings of the Workshop on Computational Kinematics, held at the International Conference and Research Center for Computer Science (IBFI), of Germany, from October 11 to October 15, 1993"--Pref.

Bibliography (note)

• Includes bibliographical references.

Contents

• 1. Kinematics Algorithms. 1.1. Computations in Kinematics / B. Roth. 1.2. Reducing the Inverse Kinematics of Manipulators to the Solution of a Generalized Eigenproblem / M. Ghazvini. 1.3. On the Tangent-Half-Angle Substitution / P. Kovacs and G. Hommel. 1.4. Resultant Methods for the Inverse Kinematics Problem / J. Weiss -- 2. Redundant Manipulators. 2.1. Redundancy Resolution for an Eight-Axis Manipulator / H. Heiss. 2.2. A Mixed Numeric and Symbolic Approach to Redundant Manipulators / M. Kauschke. 2.3. Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators / J. Lenarcic. 2.4. On Finding the Set of Inverse Kinematic Solutions for Redundant Manipulators / E. Celaya and C. Torras. 2.5. The Self-Motion Manifolds of the N-Bar Mechanism / F. Thomas -- 3. Kinematic and Dynamic Control. 3.1. Feedforward Torque Computations with the Aid of Maple V / T. H. Connolly and F. Pfeiffer. 3.2. Nonlinear Control of Constrained Redundant Manipulators / C. Woernle.
• 3.3. Analysis of Mechanisms by the Dual Inertia Operator / M. Shoham and V. Brodsky -- 4. Parallel Manipulators. 4.1. Direct Kinematics in Analytical Form of a General Geometry 5-4 Fully-Parallel Manipulator / C. Innocenti and V. Parenti-Castelli. 4.2. The Kinematics of 3-DOF Planar and Spherical Double-Triangular Parallel Manipulators / H. R. Mohammadi Daniali, P. J. Zsombor-Murray and J. Angeles. 4.3. The Semigraphical Solution of the Direct Kinematics of General Platform-Type Parallel Manipulators / K. E. Zanganeh and J. Angeles. 4.4. On the Representation of Rigid-Body Motions and its Application to Generalized Platform Manipulators / D. Lazard. 4.5. Algebraic-Geometry Tools for the Study of Kinematics of Parallel Manipulators / J.-P. Merlet -- 5. Motion Planning. 5.1. Singularity Control for Simple Manipulators using 'Path Energy' / J. E. Lloyd. 5.2. An Investigation of Path Tracking Singularities for Planar 2R Manipulators / J. Kieffer and B. O'Loghlin.
• 5.3. Robot Motions with Trajectory Interpolation and Overcorrection / H. Heiss. 5.4. Computational Geometry and Motion Approximation / Q. J. Ge and B. Ravani -- 6. Kinematics of Mechanisms. 6.1. Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator / R. B. Hertz and P. C. Hughes. 6.2. Analytical Determination of the Intersections of Two Coupler-Point Curves Generated by Two Four-Bar Linkages / C. Innocenti. 6.3. On Closed Form Solutions of Multiple-Loop Mechanisms / A. Kecskemethy. 6.4. A Modular Method for Computational Kinematics / P. Fanghella and C. Galletti. 6.5. Synthesis for Rigid Body Guidance Using Polynomials / A. A. Rojas Salgado and J. I. Torres Navarro. 6.6. Designing Mechanisms for Workspace Fit / F. C. Park, A. P. Murray and J. M. McCarthy.

ISBN

0792325850

LCCN

93248242

OCLC

• 29956275
• ocm29956275

Owning Institutions

Columbia University Libraries