Advances in Robot Kinematics - Mechanisms and Motion (Hardcover, 2006 ed.)

This book presents the most recent research advances in the theory, design, control and application of robotic systems, which are intended for a variety of purposes such as manipulation, manufacturing, automation, surgery, locomotion & biomechanics. The issues addressed are fundamentally kinematic in nature, incl. synthesis, calibration, redundancy, force control, dexterity, inverse and forward kinematics, kinematic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear algebra. These methods are applied to both parallel and serial multi-degree-of-freedom systems. The book includes 53 reviewed papers of researchers specialising in robot kinematics. The chapters are as follows: Methods in Kinematics, Properties of Mechanisms, Humanoids and Biomedical Applications, Workspace and Isotropy, Analysis of Mechanisms, Design of Mechanisms, Motion Synthesis and Mobility.