Advances in Robot Kinematics - Jadran Lenarcic and Bernard Roth (Eds) Part 2 potx

... P 1 , P 2 and P 3 . Starting again from the singular position, by moving driver P 4 the plane formed by pairs P 1 -P 11 -P 12 , and the planes formed by P 2 -P 7 -P 8 and P 3 -P 9 -P 10 ... matrix that involves the full twist of the end-effector. Indeed for a robot with n d.o.f. © 20 06 Springer. Printed in the Netherlands. 41 J. Lenarþiþ and B. Roth (eds.), Advanc...

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... linear in translations. We have Q 2 =(A 3 a 2 − A 2 a 3 )(x 2 0 x 2 2 − x 2 1 x 2 3 )+(b 3 A 2 − B 3 a 2 )x 1 x 2 (x 2 0 + x 2 3 )+ (b 3 A 2 + B 3 a 2 )x 0 x 3 (x 2 1 + x 2 2 ) Q 3 =2t 1 a 2 [x 1 x 3 (b 3 + ... singularity. Different mea- © 20 06 Springer. Printed in the Netherlands. J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics,...

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... Parenti- Castelli, 20 02, Kim and Tsai, 20 02, Kong and Gosselin, 20 02, Gogu, 20 04b), planar T2R1-type (Gogu, 20 04c), T2R2-type (Gogu, 20 05b), T1R 2- type (Gogu, 20 05c) and spherical R2-type (Gogu, 20 05d) fully-isotropic ... depend on H-D dimensional parameters. They can be expressed in the form   2 2 32 22 34 aasindk D ;   22 3 33 cossinda4k DD...

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... There- fore, the first order mobility is, M 1 = 5. Furthermore, the first order connectivity matrix is given by C I = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ 022 323 33 20 122 333 21 022 323 322 022 22 222 20433 33 324 021 3 322 320 1 33 323 110 ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ . ... provide conclusive information about their mobility and connectivity. In this © 20 06 Springe...

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... information (f) Mutual Info. A C.I.P. Catalogue record for this book is available from the Library of Congress. ISBN-10 1-4 02 0-4 94 0-4 (HB) ISBN-13 97 8-1 -4 02 0-4 94 0-8 (HB) ISBN-10 1-4 02 0-4 94 1 -2 ... projects DPI 20 0 4-0 5414, and the EU PACO-PLUS project FP 6 -2 004-IST- 4 -2 7657. F. Thomas was partially supported by the Spanish Ministry of Edu- catio...

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... 3-0 - 0-0 2- 1 - 0-0 3-3 - 2- 1 3 -2 - 2- 2 3-3 - 2- 0 3-3 - 1-1 3 -2 - 2- 1 1-1 - 1-0 2- 2 - 2- 2 3-3 - 1-0 3 -2 - 2- 0 3 -2 - 1-1 2- 2 - 2- 1 3-3 - 0-0 3 -2 - 1-0 3-1 - 1-1 2- 2 - 2- 0 2- 2 - 1-1 3 -2 - 0-0 3-1 - 1-0 2- 2 - 1-0 2- 1 - 1-1 3-1 - 0-0 2- 2 - 0-0 ....

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... equations  ¨y com 0  =  k 21 k 22 + c 1 k 23 + c 2 k 24 k 31 k 32 + c 1 k 33 + c 2 k 34   ¨α ¨ β  +  d 2 d 3  , (13) and the joint accelerations are  ¨α ¨ β  =  k 21 k 22 + c 1 k 23 + c 2 k 24 k 31 k 32 + ... closed-loop inverse kinematic scheme for on-line joint-based robot control”, Robotica, 8, 23 1 24 3, 1990. Sciavicco, L., Siciliano, B., Model...

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... et al., 20 03. 32 qcq (3)  22 2 0 , MM LX Y (4)  22 2 12 22 0 023 2cos 2 cos , prox mid prox mid dist dist LL L LL q LL LL qq E     (5) 22 2 22 2300 2cos 2cos, mid ... knee in the sagittal plane,” Proceedings, institute of Mechanical Engineering Part H. Journal of ngineering in Medicine , 20 3, pp. 22 3 -2 33. Ottoboni, A., Parenti-C...

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... Ceccarelli M. (20 02) , Uncertainty model and singularities of 3 -2 -1 wire-based tracking systems, Advances in Robot Kinematics, pp. 10 7-1 16. White N. (1975), The Bracket Ring of a Combinatorial Geometry ... 50 8-5 13. Mappings between Robotic Jointspaces and Workspaces, Journal of Robotic Degree-of-Freedom Parallel Manipulator, In: Advances in Robot Kinematics:...

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