On Advances in Robot Kinematics PDF
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On Advances in Robot Kinematics On Advances in Robot Kinematics Edited by J. LENARCIC lozef Stefan Institute, Ljubljana, Slovenia and C. GALLETTI University of Genoa, Genoa, Italy SPRINGER-SCIENCE+BUSINESS MEDIA, LLC A c.I.P. Catalogue record for this book is available from the Library of Congress. ISBN 978-90-481-6622-0 ISBN 978-1-4020-2249-4 (eBook) DOl 10.1007/978-1-4020-2249-4 Printed on acid-free paper All Rights Reserved © 2004 Springer Science+Business Media New York Originally published by Kluwer Academic Publishers in 2004 Softcover reprint of the hardcover 1st edition 2004 No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Contents Methods in Kinematics R. Vertechy and V. Parenti-Castelli A fast and accurate method for the singular value decomposition of 3 x 3 matrices 3 P.M. Larochelle, A.P. Murray and J. Angeles SVD and PD based projection metrics on SE(n) 13 P. Fanghella and C. Galletti Choice of independent coordinates in modular kinematics 23 F. Thomas, J.M. Porta and L. Ros Distance constraints solved geometrically 31 M.J.D. Hayes, T. Luu and X-W. Chang Kinematic mapping application to approximate type and dimen- sion synthesis of planar mechanisms 41 LA. Parkin and C. Freeman On the ruled surface generated by a linear combination screw 49 A. Kecskemethy Lie-group first-order operations in rigid-body kinematics 57 A. Kecskemethy First-order intrinsic properties of the rotation parameters SO (3), quaternion and rotation vector 67 Properties of Mechanisms B. Roth Time-invariant properties of planar motions 79 A. Karger Projective properties of parallel manipulators 89 v vi K. Wohlhart Screw spaces and connectivities in multiloop linkages 97 M. Zoppi, D. Zlatanov and C.M. Gosselin Kinematics equations of a class of 4DOF parallel wrists 105 H. Bamberger and M. Shoham Kinematic structure of a parallel robot for MEMS fabrication 113 J.M. Porta, L. Ros and F. Thomas Isolating self-motion manifolds on a playstation™ 123 J.M. Rico and B. Ravani Mobility of spatial multi-loop and mixed linkages 133 Humanoids and Biomedical Applications O. Khatib, J. Warren, V. De Sapio and L. Sentis Human-like motion from physiologically-based potential energies 145 J. Babic and J. Lenarcic Role of biarticular muscles in human jump 155 J.P. Schmiedeler, J.J. Stephens, C.R. Peterson and W.G. Darling Human hand movement kinematics and kinesthesia 163 M.C. Villa-Uriol, F. Kuester, N. Bagherzadeh, A. Perez and J.M. McCarthy Kinematic synthesis of avatar skeletons from visual data 171 H. Mayer, 1. Nagy and A. Knoll Kinematics and modelling of a system for robotic surgery 181 R. Konietschke, T. Ortmaier, H. Weiss and G. Hirzinger Manipulability and accuracy measures for a medical robot in minimally invasive surgery 191 S. Lee and G.S. Chirikjian Helix-Helix packing in proteins: The kinematics of interacting line segments 199 Workspace and Isotropy J.-P. Merlet Analysis of the influence of wires interference on the workspace of wire robots 211 Vll P. Wenger, M. Baili and D. Chablat Workspace classification of 3R orthogonal manipulators 219 F. Pernkopf and M.L. Husty Workspace classification of Stewart-Gough manipulators with planar base and platform 229 A. Pashkevich, D. Chablat and P. Wenger The Orthoglide: Kinematics and workspace analysis 237 E. Ottaviano, M. Husty and M. Ceccarelli A Cartesian representation for the boundary workspace of 3R manipulators 247 R. Di Gregorio and V. Parenti-Castelli Kinematic isotropy and dynamic performances in translational parallel manipulators 255 G. Gogu Fully-isotropic T3Rl-type parallel manipulators 265 Analysis of Mechanisms C.M. Goehler and M.M. Stanisic The singular planes of the articulated arm subassembly 275 B. Siciliano and L. Villani Inverse kinematics with fuzzy redundancy resolution for a fire fighting robot 283 A. Pott and M. Hiller A force based approach to error analysis of parallel kinematic mechanisms 293 J.A. Snyman and A.M. Hay Analysis and optimization of a planar tendon-driven parallel ma- nipulator 303 J. Bayat and C.D. Crane III Closed-form equilibrium analysis of a planar tensegrity structure 313 D. Zlatanov, M. Zoppi and C.M. Gosselin Singularities and mobility of a class of 4-DOF mechanisms 321 J.J. Gil, I. Zabalza, J. Ros, J.M. Pintor and J.M. Jimenez Kinematics and dynamics of a 6-RUS Hunt-type parallel manip- ulator by using natural coordinates 329 viii Design of Mechanisms K. Al-Widyan and J. Angeles The robust design of Schonflies-motion generators 339 K. Wohlharl Polyhedral Zig-Zag linkages 351 H. Pottman, M. Hofer and B. Ravani Variational motion design 361 M. Karouia and J.M. Herve New parallel wrists: Special limbs with motion dependency 371 T. G. Ghuneim, J. Angeles and S.P. Bai The design of a novel pitch-roll wrist with spherical cam-roller pairs 381 S.-H. Lee, T.A. Lasky and S.A. Velinsky Design of a hybrid manipulator for painting highway signage 389 D. Salte and P. Bidaud An optimal kinematic design for a highly dextrous MIS instru- ment 399 G. Schreiber, A. Albu-Schiiffer, M. Fischer, F. Schoeppe and G. Hirzinger Achievable Cartesian stiffness with passively compliant, uncou- pled joints 409 Motion Synthesis and Mobility F.C. Park and K. Jo Movement primitives and principal component analysis 421 J.M. Herve Parallel mechanisms with pseudo-planar motion generators 431 G.!. Birbilis and N.A. Aspragathos Multi-agent manipulator control and moving obstacle avoidance 441 M. Callegari, P. Marzetti and B. Olivieri Kinematics of a parallel mechanism for the generation of spher- ical motions 449 G. Artus, P. Morin, C. Samson Control of a maneuvering mobile robot by transverse functions 459 lX K. Tehon and J. Jakubiak Acceleration-driven kinematics of mobile manipulators: An en- dogenous configuration space approach 469 K. Zadarnowska Dynamic dexterity and isotropy of mobile robots: An endoge- nous configuration space approach 477 Author Index 485 Preface In the last decade, we have seen an extraordinary progress in the the ory and applications of robot kinematics. This has been motivated espe cially by the development of complex parallel and humanoid robots. The present book reports 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, automa tion, surgery, locomotion and biomechanics. The issues addressed are fundamentally kinematic in nature, including synthesis, calibration, re dundancy, force control, dexterity, inverse and forward kinematics, kine matic singularities, as well as over-constrained systems. Methods used include line geometry, quaternion algebra, screw algebra, and linear alge bra. These methods are applied to both parallel and serial multi-degree of-freedom systems. The results should interest researchers, teachers and students, in fields of engineering and mathematics related to robot theory, design, control and application. This is the sixth book of the series Advances in Robot Kinematics published by Kluwer. The contributions in this book had been rigorously reviewed by in dependent reviewers and fifty one articles had been recommended for publication. They were introduced in seven chapters. These articles were also reported and discussed at the ninth international symposium on Advances in Robot Kinematics which was held in June 2004 in Sestri Levante in Italy. The symposium was organized by the University of Genova and co-organized by the Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science. We are grateful to the authors of the articles for their valuable contri butions and for their efficiency in preparing their manuscripts in time, and to the reviewers for their timely reviews. We are also indebted to the personnel at Kluwer for their excellent technical and editorial support. Jadran Lenarcic and Carlo Galleti Xl Methods in Kinematics R. Veriechy and V. Parenti-Castelli A fast and accurate method for the singular value decomposition of 3x3 matrices P.M. Larochelle, A.P. Murray and J. Angeles SVD and PD based projection metrics on SE(n) P. Fanghella and C. Galletti Choice of independent coordinates in modular kinematics F. Thomas, J.M. Poria and L. Ros Distance constraints solved geometrically x.- M.J.D. Hayes, T. Luu and W. Chang Kinematic mapping application to approximate type and dimension syn thesis of planar mechanisms l.A. Parkin and C. Freeman On the ruled surface generated by a linear combination screw A. Kecskemethy Lie-group first-order operations in rigid-body kinematics A. Kecskemethy First-order intrinsic properties of the rotation parameters SO(3), quater nion and rotation vector 1
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