Advances in Robot Kinematics - Jadran Lenarcic and Bernard Roth (Eds) Part 16 potx

... provide conclusive information about their mobility and connectivity. In this © 2006 Springer. Printed in the Netherlands. 455 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 455–464. IN MULTILOOP ... u 1 (t)=λ 10 +  2 j=1 λ 12j−1 sin jωt+ 4 69 J aco b ian Inverse Kinematics A lg orit h m s S KINEMATICS AND GRASPING USING CONFORMAL GEOMETRIC ALGEBRA Jul...

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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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... singularity. Different mea- © 2006 Springer. Printed in the Netherlands. J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 239–246. 239 - called line based singularities. In general, the reciprocal ... described in the vicinity of the singularity by a linear approximation with a still-to-be-determined positive constant . By substituting for and using de l’Hos...

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... mechanism (Carretero et al., 2000) and the 3-RP S mechanism (Lee and Shah, 1988). © 2006 Springer. Printed in the Netherlands. J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 297–306. 297 workspace, ... Springer. Printed in the Netherlands. J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 315–322. 315 characteristics of a manipulator...

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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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... $0: <): /-& lt; 8:7 4-;  * #01.< ;-, <): /-& lt; 8:7 4-; <7 5161 51B- + -) 6 8:7 4- ;741, 41 6-  , -) 6 8:7 4- ;01.< ;-, <7 5161 51B-  .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...

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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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... optimization-based approaches to whole-body motion stabilization © 2006 Springer. Printed in the Netherlands. 157 J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 157 166 . A CONVEX ... 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 Manipulator...

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... Darling, W.G. (2004), Human hand movement kinematics and kinesthesia, On Advances in Robot Kinematics, Dordrecht: Kluwer Academic Publishers, pp. 163 –170. ments: Typing and piano playing, In: ... Chen, P. and Roth, B., 1969b, “Design equations for the finitely and infinitesimally separated position synthesis of binary links and combined link chains,” ASME J. of Eng...

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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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