Titlebook: Advances in Robot Kinematics 2018; Jadran Lenarcic,Vincenzo Parenti-Castelli Conference proceedings 2019 Springer International Publishing

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Principal Kinematic Inequalities-dimensional bodies for .. Three decades thereafter Chern extended these formulas to the .-dimensional case. These results form a core tool in the fields of convex geometry, integral geometry, geometric probability, and stochastic geometry. These results, often referred to as “Principal Kinematic Fo

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Displacement Varieties for Some PUP Linkages displacements which can be performed by the end-effector of certain PUP linkages. In general these varieties are linear projections of a 4-dimensional Segre variety in 15-dimensional projective space. The different linkages correspond to projections with different centres. For one particular linkag

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Accurate Computation of Quaternions from Rotation Matricesable methods to pass from one representation to the other. While passing from a quaternion to the corresponding rotation matrix is given by Euler-Rodrigues formula, the other way round can be performed in many different ways. Although all of them are algebraically equivalent, their numerical behavio

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Redundancy Parametrization in Globally-Optimal Inverse Kinematicstrization of redundancy, i.e. the one with the minimum number of variables and differential equations, which is rather implicitly used in techniques based on dynamic programming. This communication investigates the possible minimum parametrizations and the conditions by which they become unrepresent

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Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linea actuators are measured with accelerometer sensors. By using an extended Kalman filter with the inverse kinematics equations, we can uniquely determine the manipulator platform’s pose. In this context, we investigate the solution’s accuracy and derive the minimum number of iterations under static co

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Novel Plücker Operators and a Dual Rodrigues Formula Applied to the IKP of General 3R Chainspatial displacements in the trigonometric form. Due to the structural similarity of this dualized equation to its spherical pendant, the principle of transference is applicable to lift the analytic solution to the inverse kinematics problem (IKP) of generic spherical 3R chains yielding a simple anal

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Analytical Determination of a Sphere Inside Which the Stewart Platform Translates Without Suffering of the platform would suffer an interference between them, if the geometric centre of the moving platform remained inside this sphere. Identification of such a sphere is an important step in the design and analysis of such manipulators. The geometric formulation leads to certain algebraic equations

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Evaluation of Dynamic Relaxation to Solve Kinematics of Concentric Tube Robotsundary value problem which must be solved during analysis and design. When arbitrary properties and number of the tubes are considered, this model must be solved numerically. We consider in this paper the use of dynamic relaxation to perform this resolution. Its performances in terms of accuracy and