Advances in Robot Kinematics - Jadran Lenarcic and Bernard Roth (Eds) Part 12 pps

... pitch and roll axes with a sin-characteristics respectively, resulting in a tumbling moti- on with a maximum angle of 15 ◦ and 1 Hz. The process forces are 50kN in z-direction and 5kN in the xy-plane. ... that is usually obtained by additional internal or external © 2006 Springer. Printed in the Netherlands. 331 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinema...

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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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... closed-loop inverse kinematic scheme for on-line joint-based robot control”, Robotica, 8, 231–243, 1990. Sciavicco, L., Siciliano, B., Modelling and Control of Robot Manipulators, (2nd Ed.), Springer-Verlag, ... the first optimization-based approaches to whole-body motion stabilization © 2006 Springer. Printed in the Netherlands. 157 J. Lenarþiþ and B. Roth (eds.), Advances in...

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... 50 8-5 13. Mappings between Robotic Jointspaces and Workspaces, Journal of Robotic Degree-of-Freedom Parallel Manipulator, In: Advances in Robot Kinematics: Analysis and Control, Lenarcic J. and ... pp. 15 3-1 58. Thomas F., Ottaviano E., Ros L., and Ceccarelli M. (2002), Uncertainty model and singularities of 3-2 -1 wire-based tracking systems, Advances in...

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... denote a kinematic bond by L(i, n), where i and n stand for the integer numbers associated © 2006 Springer. Printed in the Netherlands. 359 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, ... 0.20157 Table 1. Input data for the example These input data yield six real RR-chains. The input data are plugged intothealgorithmaboveandtheresultingcentersM 0 in the fixed...

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... redundant and with self-motion. Examples of over - constrained US-PM with five and six US - legs are depicted in Fig. 5. For ease of understanding, the redundant legs are drawn in long - dash - dot ... extending from the base frame F to the moving frame M. Furthermore, while the base and moving frames are binary links having only two revolute joints, the links A...

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... designs to obtain Scara motions either for serving as pick -and- place robots, or for © 2006 Springer. Printed in the Netherlands. 445 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, ... Springer. Printed in the Netherlands. 435 three-dimensional (3D) Lie group. The possible architectures of the - “ ” J. Lenarþiþ and B. Roth (eds.), Advances in Rob...

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... (sec) Mutual 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 ... (e-book) ISBN-13 97 8-1 -4 02 0-4 94 1-5 (e-book) Published by Springer, P.O. Box 17, 3300 AA Dordrecht, The Netherlands. www.springer.com Printed...

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... matrix that involves the full twist of the end-effector. Indeed for a robot with n d.o.f. © 2006 Springer. Printed in the Netherlands. 41 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, ... and the robot frame. The general scheme of the kinematic chain of the robots is shown in Fig. 3. The kinematic chains of the 3 robots obtained in this way are reporte...

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... $0: <): /-& lt; 8:7 4-;  * #01.< ;-, <): /-& lt; 8:7 4-; <7 516151B- + -) 6 8:7 4- ;741, 41 6-  , -) 6 8:7 4- ;01.< ;-, <7 516151B-  .7: -) +0 <): /-& lt; 8:7 4- -8 5 49CD1>35 ... paper illus- trates this further by studying two new non-PMs. We modify a 5-dof PM and its analysis to obtain and solve first a 4-dof S-PM an...

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