Titlebook: Advances in Robot Kinematics and Computational Geometry; Jadran Lenarčič,Bahram Ravani Book 1994 Springer Science+Business Media Dordrecht

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Suemi Higuchi,Claudia Freitas,Diana Santosith changes in the joint axes; ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms.

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Characterizing the Workspace of the Spherical Image of Cooperating Robotsematics equations of the system define constraints on the orientation of the workpiece that can be viewed as a spherical linkage, called the spherical image of the robot system. We determine the differential volume element for this orientation workspace and examine two cases, a near planar spherical

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On the Kinematics of Nonsingular and Singular Posture Changing Manipulatorsstated for classifying manipulators geometry. As a result, a list of 3-DOF singular posture changing manipulators geometries is provided. Both revolute and prismatic joints are considered in the analysis. In the end of the paper, the study is enlarged to the case of 6-DOF manipulators.

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Determination of the Workspace Boundary of a General n-Revolute Manipulatorn-revolute manipulator open chain. The workspace boundary can be obtained from the envelope of a torus family which is traced by the parallel circles cut in the boundary of a generating hyper-ring. In this paper, an algebraic and recursive new algorithm is proposed as a function of the link paramete

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Limited Existence of Three-Dimensional Conformal Mapping in Robotsmple combinations of these four operations. This result extends our earlier work on the CRV (Conformal Rotation Vector), which defines a conformal mapping from the non-Euclidean space of rigid body orientations into a Euclidean 3-space. Conformal means that changes in orientation resulting from two

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Geometric Analysis of Spatial Rigid-Body Dynamics with Multiple Friction Contactsue is to transform the negative contact forces on and the desired motion of a rigid body into instantaneous axes of rotation. These axes are directed lines or spears. The direction is determined by the sense of the rotation about the lines. A force capable of producing the desired motion must lie wi

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Geometry of Parallel-Jaw Gripper Grasps in the Planeomplex sensing and control features is often unnecessary. Instead they propose a reduced intricacy in sensing and control (RISC) approach using simple, inexpensive, robust and easily reconfigurable systems. Such systems often have the additional theoretical advantage that planning and control algori