Titlebook: Recent Advances in Robot Kinematics; Jadran Lenarčič,Vincenzo Parenti-Castelli Book 1996 Springer Science+Business Media Dordrecht 1996 ca

闪光东本

first symposium of this series was organised in 1988 in Ljubljana. The following meetings took place every other year in Austria, Italy, and Slovenia (Linz, Ferrara, Ljubljana, Portoroz­ Bernardin). It must be emphasised that the symposia run under the patronage of the International Federation for

chondromalacia

Singularity-Robust Second-Order Kinematic Control of Robot Manipulatorselerations, as well as velocities and positions by integration. These are input to a joint space computed torque control. Results are presented for a six-joint industrial robot with open control architecture.

重画只能放弃

Mhc-Molecule

Singularity Analysis and Categorisation of Generic 3-R Regional Manipulators in the literature, the complete categorisation of all generic regional manipulators is established. It is shown that there are only eight classes of homotopic generic manipulators. Several illustrative examples are provided.

六个才偏离

Acceleration Analysis, Via Screw Theory, and Characterization of Singularities of Closed Chainsscrew theory. Hence, it is possible to formulate a new methodology for the characterization of singular positions of closed chains. The authors believe that the approach expounded in this paper has some advantages over previously known methods.

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Cervical-Spine

Kinematics of a Three Degree-Of-Freedom Motion Platform for a Low-Cost Driving Simulatorysis is carried out before the velocity problem is solved. Prom the result, the singular positions of the structure, which constrain the range of motions, are located and described in the paper. The design of a table-top model, which was built to assist the development of control software, is also briefly described in the paper.

VEIL

The Direct Kinematics of the General 6–5 Stewart-Gough Mechanismniques to reduce a system of equations to a single univariate polynomial. It is shown that, once trivial solutions are eliminated, this polynomial is of degree 40. The resulting computations are simpler than those currently required by the analogous algorithmic method for the general 6–6 configurati

尊敬

The Kinematic Sensitivities of Redundant Robotic Manipulatorsant manipulators being capable of performing both a primary and a secondary task admit, correspondingly, two kinematic sensitivities. We refer to them as the primary and the secondary sensitivities, each being associated with a .. The primary sensitivity matrix turns out to be the partial derivative

遗弃

Modular Decomposition for Optimal Dynamic Design of Redundant Macro/Mini Manipulatorss the decomposition of the design problem into smaller, more manageable problems. With this method, a redundant mechanism is subdivided into a chain of non-redundant subsystems which can be designed separately. The result is a highly efficient design process.