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Advances in Robot Kinematics 2022

  • Conference proceedings
  • © 2022

Overview

Editors:
  1. Oscar Altuzarra

    1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

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  2. Andrés Kecskeméthy

    1. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

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  • Includes the most recent results in robot kinematics
  • Reports on the latest scientific achievements on robot kinematics provided by the prominent researchers
  • Covers a wide spectrum of areas with the focus on robot kinematics

Part of the book series: Springer Proceedings in Advanced Robotics (SPAR, volume 24)

Included in the following conference series:

Conference proceedings info: ARK 2022.

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Table of contents (54 papers)

  1. Front Matter

    Pages i-xiii
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  2. Theoretical Kinematics

    1. Front Matter

      Pages 1-1
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    2. Möbius Linkages

      • Manfred L. Husty
      Pages 3-12

    3. On Origami-Like Quasi-mechanisms with an Antiprismatic Skeleton

      • G. Nawratil
      Pages 13-21

    4. Line-Point Constraints and Robot Surgery

      • J. M. Selig
      Pages 22-29

    5. On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains

      • Bertold Bongardt, Andreas Müller
      Pages 30-38

    6. Extended Rotation Matrix for Kinematics of Pointing Mechanisms

      • Shaoping Bai
      Pages 39-46

    7. A Linearization Method Based on Lie Algebra for Pose Estimation in a Time Horizon

      • Nicolas Torres Alberto, Lucas Joseph, Vincent Padois, David Daney
      Pages 47-56

    8. Hyper-multidual Algebra and Higher-Order Kinematics

      • Daniel Condurache
      Pages 57-64

    9. Geometry Based Analysis of 3R Serial Robots

      • Durgesh Salunkhe, Jose Capco, Damien Chablat, Philippe Wenger
      Pages 65-72

    10. Synthesis of Gripper Mechanisms Derived from Baranov Chains

      • Fernando Vinicius Morlin, Vinícius Noal Artmann, Andrea Piga Carboni, Daniel Martins
      Pages 73-80

    11. 6R Linkages with Hidden Singularities

      • Zijia Li, Andreas Müller
      Pages 81-89

  3. Cable Driven Manipulators

    1. Front Matter

      Pages 91-91
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    2. Best Operation Regions in a Planar Cable Driven System

      • Leonardo Mejia, Fabricio Frantz, Daniel Ponce, Daniel Martins
      Pages 93-100

    3. Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot

      • Marceau Métillon, Camilo Charron, Kévin Subrin, Stéphane Caro
      Pages 101-109

    4. An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots

      • Bozhao Wang, Philippe Cardou, Stéphane Caro
      Pages 110-121

    5. A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots

      • J.-P. Merlet, R. Tissot
      Pages 122-130

    6. Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors

      • Sara Gabaldo, Edoardo Idà, Marco Carricato
      Pages 131-138

    7. Stacked Tensegrity Mechanism for Medical Application

      • Dhruva Khanzode, Ranjan Jha, Emilie Duchalais, Damien Chablat
      Pages 139-148

    8. Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

      • Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau
      Pages 149-159
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  1. Advances in Robot Kinematics 2022

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About this book

This book reports on the latest scientific achievements on robot kinematics provided by the prominent researchers participating in the 18th International Symposium on Advances in Robot Kinematics ARK2022, organized in the University of the Basque Country, Bilbao, Spain. It is of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems.

The book brings together 53 peer-reviewed papers. These cover the full range of robotic systems, including serial, parallel, flexible mechanisms, and cable-driven manipulators, and tackle problems such as: kinematic analysis of robots, robot modelling and simulation, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, kinematics in biological systems, flexible parallel manipulators, humanoid robots and humanoid subsystems.

Editors and Affiliations

  • Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  • Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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