Titlebook: Robot Mechanisms; Jadran Lenarcic,Tadej Bajd,Michael M. Stanišić Textbook 2013 Springer Science+Business Media Dordrecht 2013 Parallel Rob

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Kinematic Model of the Human Hand,assembling the palm, the fingers, and the thumb and expressing their poses in the reference coordinate frame of the wrist. The introduced kinematic model was obtained based on a series of optical measurements of the human hand. The introduced model enables us to analyze the motion of the human hand,

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Serial Mechanisms,the direct kinematics problem is relatively simple to solve, while the inverse kinematics problem includes difficulties associated with the existence of a real solution, with multiple solutions, and with the convergence of iterative numerical procedures.

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Robot Grasp,In this chapter we are not interested in single contacts between bodies; rather we are focused on the effects of multiple contacts on a grasped object. A mathematical description of a grasp with multiple fingers is introduced.

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Textbook 2013book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the develo

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Mechanisms,or Parameters, link and joint vectors are used to determine the geometry of the mechanism. As the reference position of a mechanism is a free choice, this method enables us to select the most appropriate reference position with respect to the requirements of the robot task.