By P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty (eds.)
The contributions during this e-book have been provided on the 6th overseas symposium on Advances in robotic Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The previous symposia of the sequence happened in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever due to the fact that its first occasion, ARK has attracted the main striking authors within the zone and controlled to create an ideal mixture of professionalism and pleasant athmosphere. we're happy to monitor that, inspite of a powerful festival of many overseas meetings and conferences, ARK is constant to develop when it comes to the variety of individuals and when it comes to its clinical effect. In its ten years, ARK has contributed to increase a notable clinical group within the zone of robotic kinematics. The final 4 symposia have been organised less than the patronage of the overseas Federation for the idea of Machines and Mechanisms -IFToMM. curiosity to researchers, doctoral scholars and academics, The booklet is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, layout, and regulate of robots. it truly is divided into sections that have been stumbled on because the popular components of the modern kinematics learn. because it can simply be spotted, a major a part of the publication is devoted to numerous elements of the kinematics of parallel mechanisms that persist to be some of the most beautiful parts of analysis in robotic kinematics.
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Extra resources for Advances in Robot Kinematics: Analysis and Control
7, no. 5, pp. 13-2l. Clavel, R. (1988) Delta, a fast robot with parallel geometry, Proc. 18th Int. Symp. on Industrial Robots, Lausanne, Switzerland, pp. 91-100. -P. (1990) Les Robots Paralleles, Hermes, Paris, France. -E. , Dauchez, P. (1995) Control of fast parallel robots: Application to the HEXA robot, Proc. MIMR '95, Sendai, Japan, pp. 572-575. , Dauchez, P. (1991) Towards a fully-parallel 6 dof robot for high-speed applications, Proc. 1991 IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp.
SINGULARITY WITHIN A BOX WORKSPACE A bo:r workspace will be defined as a set of 6 ranges, one for each of the component of X. A box workspace may be used to define a possible 6D workspace for our robot: the three first ranges define the possible location of C as a box in the 3D space while the three others ranges define the possible orientation of the end-effector. The purpose of our algorithm is to determine the presence of singularities in a given workspace of the robot. To illustrate its principle let us assume that the given workspace is defined as a box workspace Bo.
For instance, Fig. 4 illustrates the determinant of TA as a function of x and y for z = 1000. In other words, the transformation TA does not introduce representation singularities, and the singularities of the inverse differential kinematics mapping are those of either J A1 or J-l. , as illustrated in Fig. 4 as a function of a and (3 for r = 1000. By virtue of the duality established by the principle of virtual works, the statics mapping between the vector of joint torques 'T and the vector of forces f on the mobile base is given by (9) The kineto-static duality can be keenly exploited to carry out a velocity /force analysis of the structure in terms of manipulability ellipsoids (Yoshikawa 1985).