Advances in Robot Kinematics

Computing Cusps of 3R Robots Using Distance Geometry.- Kinematic Mapping of SE(4) and the Hypersphere Condition.- Direct Kinematics of an Orthogonal 6PRRS Parallel Manipulator.-
The Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based Design.- Impact of Perturbation on Wire Tension Vector.- A Deployable Parallel Wrist with Simple Kinematics.-
Geometric Derivation of 6R Linkages with Circular Translation.- Function Synthesis of the Planar 5R Mechanism Using Least Squares Approximation.- Some Remarks on the RRR Linkage.- Force Capability Polytope of a 4RRR Redundant Planar Parallel Manipulator.- Motion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian Approach.- Non singular Change of Assembly Mode Without any Cusp.- The Influence of Discrete-Time Control on the Kinematic-Static.- Behavior of Cable-Driven Parallel Robot with Elastic Cables.- Derivatives of Screw Systems in Body-fixed Representation.- Sharp Linkages.- Solvable Multi-Fingered Hands for Exact Kinematic Synthesis.- Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel Robot.- Influence of spring characteristics on the behavior of Tensegrity Mechanisms.- Human Motion Kinematics Assessment Using Wearable Sensors.- Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its Homogenization.- Human Motion Mapping to a Robot Arm with Redundancy Resolution.- Analysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold Redundancy.- Kinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and Pulleys.- Direct and Inverse Second Order Kinematics for Hyper-Redundant Parallel Robots.- Kinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative Displacement.- On the Limitations on the Lower and Upper Tensions for Cable-driven Parallel Robots.- Characterization of the Subsystems in the General Three-System of Screws.- GeometricalPatterns for Measurement Pose Selection in Calibration of Serial Manipulators.- Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom.- Points, Lines, Screws and Planes in Dual Quaternions Kinematic.- Recovering Dual Euler Parameters from Feature-based Representation of Motion.- Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine.- Kinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance.- Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis.- Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications.- Trifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric Constraints.- The Kinematics of Containment.-
The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a
Approximating Constrained Hand Paths via Kinematic Synthesis with Contact Specifications.- Investigation of Error Propagation in Multi-Backbone Continuum Robots.- Kinematics of Expansive Planar Periodic Mechanisms.- From Inverse Kinematics to Optimal Control.- New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial Manipulators.- Analysis of Constraint Equations and Their Singularities.- Shape Optimized Heliostats for Kinematic Sun Tracking.- Efficient Resolution of Hyper-Redundancy Using Splines.- Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-Endoscopy.- Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator.- On the Kinematics of an Innovative Parallel Robot for Brachytherapy.- Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute Joint.- Conditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of Lines.- Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program.- Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units.- Motion Capability of the 3-RPS Cube Parallel Manipulator.- Coupling of Trajectoriesfor Human-Robot Cooperative Tasks.- Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator.