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Computational Kinematics

Proceedings of the 5th International Workshop on Computational Kinematics

  • Conference proceedings
  • © 2009

Overview

Editors:
  1. Andrés Kecskeméthy

    1. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Germany

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  2. Andreas Müller

    1. Chair of Mechanics and Robotics, University Duisburg-Essen, Duisburg, Germany

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About this book

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.

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Table of contents (47 papers)

  1. Front Matter

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  3. Parallel Manipulators (1)

    1. Computing the Configuration Space for Motion Planning between Assembly Modes

      • Monica Urizar, Victor Petuya, Oscar Altuzarra, Alfonso Hernandez
      Pages 35-42

    2. Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

      • Philippe Wenger, Damien Chablat
      Pages 43-50

    3. Non-singular assembly mode change in 3-RPR-parallel manipulators

      • Manfred L. Husty
      Pages 51-60

    4. Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot

      • A-H. Chebbi, Z. Affi, L. Romdhane
      Pages 61-68

  4. Parallel Manipulators (2)

    1. Forward displacement analysis of a 3-RPR planar parallel manipulator revisited

      • Xianwen Kong
      Pages 69-76

    2. Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators

      • Nicolas Binaud, Stéphane Caro, Philippe Wenger
      Pages 77-84

    3. Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs

      • Ernesto Rodriguez-Leal, Jian S. Dai, Gordon R. Pennock
      Pages 85-92

    4. ON NEW CLASS OF PARALLEL-CROSS MECHANISMS

      • V. A. Glazunov, S. Briot, V. Arakelian, Minh Thanh Nguyen
      Pages 93-100

  5. Motion Planning

    1. Motion Interpolation with Bennett Biarcs

      • Hans-Peter Schröcker, Bert Jüttler
      Pages 101-108

    2. Motion Estimation using a Statistical Solid Dynamic Method

      • Alon Wolf, Merav Senesh
      Pages 109-116

    3. Spatial Generalization of the Planar Path Generation Problem

      • Chintien Huang, Bingrong Huang
      Pages 117-124

    4. Motion Planning of Nonholonomic Systems with Dynamics

      • Krzysztof Tchoń, Janusz Jakubiak, Łukasz Małek
      Pages 125-132
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Editors and Affiliations

  • Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

  • Chair of Mechanics and Robotics, University Duisburg-Essen, Duisburg, Germany

    Andreas Müller

Bibliographic Information

  • Book Title: Computational Kinematics

  • Book Subtitle: Proceedings of the 5th International Workshop on Computational Kinematics

  • Editors: Andrés Kecskeméthy, Andreas Müller

  • DOI: https://doi.org/10.1007/978-3-642-01947-0

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2009

  • Hardcover ISBN: 978-3-642-01946-3Published: 20 May 2009

  • Softcover ISBN: 978-3-642-10188-5Published: 19 October 2010

  • eBook ISBN: 978-3-642-01947-0Published: 06 October 2009

  • Edition Number: 1

  • Number of Pages: XII, 394

  • Topics: Mechanical Engineering, Vibration, Dynamical Systems, Control, Solid Mechanics

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