Advances in Robot Kinematics: Analysis and Design

1. A New Assessment of Singularities of Parallel Kinematic Chains
Michele Conconi, Marco Carricato

2. Singularity Analysis through Static Analysis
J. Hubert, J. -P. Merlet

3. Constraint Singularities and the Structural Parameters of Parallel Robots
Grigore Gogu

4. Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator
Xianwen Kong

5. Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility
Tanio K. Tanev

6. SinguLab – A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann–Cayley Algebra
Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat, Philippe Wenger

7. Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann–Cayley Algebra
Daniel Kanaan, Philippe Wenger, Damien Chablat

8. On the Design of Fully Constrained Parallel Cable-Driven Robots
M. Gouttefarde, S. Krut, O. Company, F. Pierrot, N. Ramdani

9. Synthesis of Part Orienting Devices for Spatial Assembly Tasks
P. Larochelle

10. Minimum Energy Manipulator Design
A. Rojas Salgado, Y. Ledezma Rubio

11. Synthesis and Analysis of a Constrained Spherical Parallel Manipulator
G. S. Soh, J. M. McCarthy

12. A Nonholonomic 3-DOF Parallel Robot
Patricia Ben-Horin, Federico Thomas

13. 4-DOF Parallel Architecture for Laparoscopic Surgery
Mohammad Aamir Khan, Matteo Zoppi, Rezia Molfino

14. Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control
Ch. Grand, P. Martinelli, J. -B. Mouret, S. Doncieux

15. Extended Jacobian Inverse Kinematics and Approximation of Distributions
Mariusz Janiak, Krzysztof Tchon

16. A Screw Syzygy with Applications to Robot Singularity Computation
J. M. Selig, Peter Donelan

17. Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators
Krzysztof Tchon, Lukasz Malek

18. Robots Based on Assur Group A (3.5)
Karl Wohlhart

19. Kinematics of Free-Floating Systems through Optimal Control Theory
G. Vey

20. Genericity Conditions for Serial Manipulators
Peter Donelan

21. Alternative Forms for Displacement Screws and Their Pitches
I. A. Parkin

22. Time-Invariant Strategies in Coordination of Human Reaching
Satyajit Ambike, James P. Schmiedeler

23. Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms
A. Müller, J. M. Rico

24. Optimization of a Test Trajectory for SCARA Systems
J. -F. Gauthier, J. Angeles, S. Nokleby

25. Singularity Free Path Planning for Parallel Robots
Samir Lahouar, Saïd Zeghloul, Lotfl Romdhane

26. A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators
J. A. Carretero, I. Ebrahimi, R. Boudreau

27. Trajectory Planning of Parallel Manipulators for Global Performance Optimization
Ofelia G. Alba-Gómez, J. Alfonso Pamanes, Philippe Wenger

28. Human Motion Reconstruction by Direct Control of Marker Trajectories
Emel Demircan, Luis Sentis, Vincent Sapio, Oussama Khatib

29. New Self-Motions of Parallel Manipulators
Adolf Karger

30. Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions
Margot Rabl, Bert Jüttler, Laureano Gonzalez-Vega

31. A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator
Giovanni Berselli, Rocco Vertechy, Gabriele Vassura, Vincenzo Parenti Castelli

32. Transitions between Multiple Solutions of the Direct Kinematic Problem
E. Macho, O. Altuzarra, C. Pinto, A. Hernandez

33. Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
N. Rakotomanga, D. Chablat, S. Caro

34. Results on Planar Parallel Manipulators with Cylindrical Singularity Surface
G. Nawratil

35. Stiffness Matrix of Compliant Parallel Mechanisms
C. Quennouelle, C. M. Gosselin

36. A Pair of Measures of Rotational Error for Axisymmetric Robot End-Effectors
Sébastien Briot, Ilian A. Bonev

37. Angular-Velocity Estimation from the Centripetal Component of the Rigid-Body Acceleration Field
Philippe Cardou, Jorge Angeles

38. A Novel Point of View to Define the Distance between Two Rigid-Body Poses
Raffaele Gregorio

39. Parallel Robot Calibration by Working Mode Change
P. Last, C. Budde, D. Schütz, J. Hesselbach, A. Raatz

40. Augmented Model of the 3-PRS Manipulator for Kinematic Calibration
Steven M. O’Brien, Juan A. Carretero

41. The Calibration of a Parallel Manipulator with Binary Actuation
Jean-Sébastien Plante, Steven Dubowsky

42. Stability Measure of Postural Dynamic Equilibrium Based on Residual Radius
Sébastien Barthélemy, Philippe Bidaud

43. A Geometrical Characterization of Workspace Singularities in 3R Manipulators
M. Husty, E. Ottaviano, M. Ceccarelli

44. Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs
Carl D. Crane, Jahan Bayat, Vishesh Vikas, Rodney Roberts

45. Inverse Kinematics of Robot Manipulators with Multiple Moving Control Points
Agostino Santis, Bruno Siciliano

46. On the Delassus Parallelogram
Chung-Ching Lee, Jacques M. Hervé

47. Forward Kinematics and Workspace Determination of a Wire Robot for Industrial Applications
Andreas Pott

48. Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery
Doina Pisla, Nicolae Plitea, Calin Vaida

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