Jadran Lenarčič

Advances in Robot Kinematics

From the Publisher: 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 and biomechanics. The issues addressed are fundamentally kinematic in nature, including 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 results should interest researchers, teachers, and students, in fields of engineering and mathematics related to robot theory, design, control and application.

On-line learning and modulation of periodic movements with nonlinear dynamical systems

The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to learn periodic tasks on a humanoid HOAP-2 robot. The first layer of the system is a dynamical system responsible for extracting the fundamental frequency of the input signal, based on adaptive frequency oscillators. The second layer is a dynamical system responsible for learning of the waveform based on a built-in learning algorithm. By combining the two dynamical systems into one system we can rapidly teach new trajectories to robots without any knowledge of the frequency of the demonstration signal. The system extracts and learns only one period of the demonstration signal. Furthermore, the trajectories are robust to perturbations and can be modulated to cope with a dynamic environment. The system is computationally inexpensive, works on-line for any periodic signal, requires no additional signal processing to determine the frequency of the input signal and can be applied in parallel to multiple dimensions. Additionally, it can adapt to changes in frequency and shape, e.g. to non-stationary signals, such as hand-generated signals and human demonstrations.

Recent advances in robot kinematics

1. Plenary. 2. Control and Optimisation. 3. Performance. 4. Workspace and Trajectory Analysis. 5. Modelling and Computation. 6. Analysis and Simulation. 7. Performance of Parallel Mechanisms. 8. Analysis of Parallel Mechanisms. Author Index.

Advances in Robot Kinematics: Analysis and Control

From the Publisher: The book provides a state-of-the-art and recent advances in the area of kinematics of robots and mechanisms. The book consists of about fifty outstanding contributions dedicated to various aspects of kinematic modelling and control, emphasising in particular the kinematics performances of robots and mechanisms, workspace and trajectory analysis, numerical and symbolic computational methods and algorithms, analysis, simulation and optimisation. The book is of interest to researchers, graduate students, and engineers specialising in the kinematics of robots and mechanisms. The book should also be of interest to those engaged in work relating to kinematic chains, mechatronics, mechanism design, biomechanics and intelligent systems.

A humanoid shoulder complex and the humeral pointing kinematics

This paper presents a humanoid robotic shoulder complex and the kinematics of humanoid humeral pointing as performed by this complex. The humanoid shoulder complex is composed of two subsystems, a parallel mechanism which serves as the innermost shoulder girdle and a serial mechanism which serves as the outermost spherical glenohumeral joint. These two subsystems are separated by an offset distance and a twist angle. The subsystems operate cooperatively as an offset double pointing system. Humanoid humeral pointing is defined as a configuration in which the displacement of the shoulder girdle and the humerus are coplanar, and in which a ratio between an inclination angle in each subsystem achieves a constant value consistent with human humeral pointing. One redundant degree of freedom remains in the humanoid shoulder girdle, and it can be used to optimize system configuration and operating criteria, such as avoiding the singular cones of the humanoid glenohumeral joint.

Advances in Robot Kinematics and Computational Geometry

Introduction. 1. Workspace and Trajectory Analysis. 2. Computational Geometry in Kinematics. 3. Kinematic Errors and Calibration. 4. Kinematics of Mobile Robots. 5. Kinematic Performance. 6. Kinematics in Control. 7. Force and Elasticity Analysis. 8. Inverse Kinematics. 9. Kinematic Design. 10. Kinematic Analysis. 11. Parallel Manipulators. 12. Task and Motion Planning. Author Index.

Kinematic design of a humanoid robotic shoulder complex

We present a mechanical design for a humanoid robotic shoulder complex. The aim of the mechanism is to support the load of the arm and to copy four principal motions of the human shoulder in order to furnish the desired arm mobility and reachability. We utilize a fully parallel mechanism with four driven legs that provide to the movable platform (on which the arm is to be attached) three rotations and one translation. These three rotations represent the shoulders flexion-extension (about the vertical axis), the shoulders abduction-adduction (about the anterior-posterior axis), and the shoulders rotation (about the medial-lateral axis). The fourth degree of freedom is controlled depending on the angles of the first two rotations and represents the shoulder contraction and enlargement along the medial-lateral axis.

An efficient numerical approach for calculating the inverse kinematics for robot manipulators

This paper compares three numerical methods for obtaining the joint trajectory of a robot manipulator, which causes movement along the desired Cartesian path. The first solves the kinematic equations, which are given in the Jacobian form, while the other two solve the nonlinear kinematic equations directly by using an iterative computational procedure based on the conjugate gradient technique. The computational efficiency of the proposed methods is estimated in terms of the execution time on a VAX 11/750 minicomputer. It is shown that by using the capacity of microcomputers, these methods could be well used in real-time computation.

Advances in robot kinematics : motion in man and machine

Preface Chapter 1 Introduction and Announcements R. J. Ellwood, D. Schuetz, A. Raatz and J. Hesselbach: Calibration and Validation of a Rigid Body Kinematic Model of Flexure Hinges K. Tcho?, J. Jakubiak and ?. Ma?ek: Dynamic Jacobian Inverses of Mobile Manipulator Kinematics N. Rojas and F. Thomas: A Robust Forward Kinematics Analysis of 3RPR planar Platforms M. Vona: Hierarchical Decomposition and Kinematic Abstraction with Virtual Articulations M. Urizar, V. Petuya, O. Altuzarra and A. Hernandez: Researching into Nonsingular Transitions in the Joint Space J.-P. Merlet: MARIONET, a Family of Modular Wire-Driven Parallel Robots A. Wolf, I. Sharf and M. B. Rubin: Using Cosserat Points Theory for Estimating Kinematics and Soft-Tissue Deformation During Gait Analysis Chapter 2: C.-C. Lee and J. M. Herve: Mechanical Generators of 2-DOF Translation Along a Ruled Surface D. Zarrouk, I. Sharf and M. Shoham: Worm-like Robotic Locomotion in Flexible Environment M. Ruggiu and J. Carretero: Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator D. Pisla, N. Plitea, B. G. Gherman, C. Vaida and M. Suciu: Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery G. Nawratil: Main Theorem on Schonflies-Singular Planar Stewart Gough Platforms M. Bergamasco, F. Salsedo, S. Marcheschi, N. Lucchesi: A Novel Actuation Module for Wearable Robots R. Vertechy, G. Berselli, M. Bergamasco and V. Parenti-Castelli: Parallel Robot with Antagonistic Dielectric Elastomer Actuation for Human-Machine Interaction S.Ambike, J. P. Schmiedeler and Stanisi?: Using Redundancy in Serial Planar Mechanisms to Improve Output-Space Tracking Accuracy Chapter 3: S. Abdelaziz, P. Renaud, B. Bayle and M. de Mathelin: Combining Structural and Kinematic Analysis Using Interval Analysis for a Wire-Driven Manipulator De Santis, G. Di Gironimo, L. Pelliccia, B. Siciliano, A. Tarallo: Multiple-Point Kinematic Controlof a Humanoid Robot D. Alizadeh, J. Angeles and S. Nokleby: Optimum Design of a Pan-tilt Drive for Parallel Robots J. Salini, S. Barthelemy and P. Bidaud : LQP-Based Controller Design for Humanoid Whole-Body Motion M. Carricato and J. M. Rico Martinez: Persistent Screw Systems B. Bru and V. Pasqui: Localisation of the Instantaneous Axis of Rotation in Human Joints Z. Shahbazi, T. A. P. F. Pimentel, H. Ilies, K. Kazerounian and P. Burkhard: A Kinematic Observation and Conjecture for Stable Construct of a Peptide Nanoparticle M. T. Masouleh, M. Husty and C. Gosselin: Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters Chapter 4: D. Schutz, A. Raatz and J. Hesselbach: The Development of a Reconfigurable Parallel Robot with Binary Actuators L. Baron: On the Design of 5R Serial Manipulators with Isotropic Positioning D. Omr?en and A. Ude: A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head T. T. Um, B. Kim and F. C. Park: Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions Chapter 5: O. Anubi and C. Crane: Equilibrium Analysis of Tensegrity Structures with Elastic Ties S. Amine, D. Kanaan, S. Caro and P. Wenger: Singularity Analysis of Lower-Mobility Parallel Robots with and Articulated Nacelle E. Demircan, T. Besier, S. Menon and O. Khatib: Human Motion Reconstruction and Synthesis of Human Skills G. Wei and J. S. Dai: The Overconstrained Mechanisms with Radially Reciprocating Motion A. D. Perkins and K. J. Waldron: Control of Bipedal Turning While Running M. Carricato and J.-P. Merlet: Geometrico-static Analysis of Under-constrained Cable-driven Parallel Robots Q. Jiang and V. Kumar: The Inverse Kinematics of 3-D Towing O. Bohigas, L. Ros and M. Manubens: A Complete Method for Workspace Boundary Determination Chapter 6: J. Babi?, E. Oztop and J. Lenar?i? : Inverse Kinematics of Humanoid-Robot Reaching Through Human Visuo-Motor Learning J.

A Biarticulated Robotic Leg for Jumping Movements: Theory and Experiments

This paper investigates the extent to which biarticular actuation mechanisms―spring― driven redundant actuation schemes that extend over two joints, similar in function to biarticular muscles found in legged animals―improve the performance of jumping and other fast explosive robot movements. Robust numerical optimization algorithms that take into account the complex dynamics of both the redundantly actuated system and frictional contact forces are developed. We then quantitatively evaluate the gains in vertical jumping vis-a-vis monoarticular and biarticular joint actuation schemes and examine the effects of spring stiffness and activation angle on overall jump performance. Both numerical simulations and experiments with a hardware prototype of a biarticular legged robot are reported.