Computational Kinematics

Computational Kinematics

Proceedings of the 5th International Workshop on Computational Kinematics Andrés Kecskeméthy, Andreas Müller. curve 545 does not encircle a cusp has the reason that cusps have only a meaning in planar intersections of S. There is no ...

Author: Andrés Kecskeméthy

Publisher: Springer Science & Business Media

ISBN: 9783642019470

Category: Technology & Engineering

Page: 394

View: 891

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The present book collects up-to-date methods as presented during the Fifth International Workshop on Computational Kinematics (CK2009) held at the University of Duisburg-Essen, Germany. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, balancing and construction of novel mechanical devices, detection and treatment of singularities, as well as computational methods for gear design. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Categories: Technology & Engineering

Computational Kinematics

Computational Kinematics

This book contains the Proceedings of the seventh International Workshop on Computational Kinematics (CK2017) sponsored by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science.

Author: Saïd Zeghloul

Publisher: Springer

ISBN: 9783319608679

Category: Technology & Engineering

Page: 608

View: 417

This is the proceedings of IFToMM CK 2017, the 7th International Workshop on Computational Kinematics that was held in Futuroscope-Poitiers, France in May 2017. Topics treated include: kinematic design and synthesis, computational geometry in kinematics, motion analysis and synthesis, theory of mechanisms, mechanism design, kinematical analysis of serial and parallel robots, kinematical issues in biomechanics, molecular kinematics, kinematical motion analysis and simulation, geometric constraint solvers, deployable and tensegrity structures, robot motion planning, applications of computational kinematics, education in computational kinematics, and theoretical foundations of kinematics. Kinematics is an exciting area of computational mechanics and plays a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Categories: Technology & Engineering

Computational Kinematics

Computational Kinematics

into six parts, namely, i) kinematics algorithms, whereby general kinematics problems are discussed in light of their solution ... This book contains the Proceedings of the Workshop on Computational Kinematics, held at the International ...

Author: J. Angeles

Publisher: Springer Science & Business Media

ISBN: 9789401581929

Category: Science

Page: 310

View: 857

The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term ,that branch of kinematics research involving intensive computations not only of the numer ical type, but also of a symbolic nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental question s such as the number of solutions, whether real or complex, that a given problem can admit. Problems of this kind occur frequently in the analysis and synthesis of kinematic chains, when finite displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. What we mean by algebraic equations here is equations whereby the unknowns are numbers, as opposed to differen tial equations, where the unknowns are functions. The algebraic equations at hand can take on the form of multivariate polynomials or may involve trigonometric functions of unknown angles. Because of the nonlinear nature of the underlying kinematic models, purely numerical methods turn out to be too restrictive, for they involve iterative procedures whose convergence cannot, in general, be guaranteed. Additionally, when these methods converge, they do so to only isolated solu tions, and the question as to the number of solutions to expect still remains.
Categories: Science

Computational Kinematics

Computational Kinematics

Proceedings of the 6th International Workshop on Computational Kinematics (CK2013) Federico Thomas, Alba Perez Gracia. convergence, and the possibility of finding numerous poses. It is a viable alternative for actual real-time ...

Author: Federico Thomas

Publisher: Springer Science & Business Media

ISBN: 9789400772144

Category: Technology & Engineering

Page: 409

View: 639

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics.
Categories: Technology & Engineering

Computational Kinematics 95

Computational Kinematics    95

Preface The aim of this book is to provide an account of the state of the art in Computational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the numerical ...

Author: J.-P. Merlet

Publisher: Springer Science & Business Media

ISBN: 9789401103336

Category: Technology & Engineering

Page: 310

View: 482

The aim of this book is to provide an account of the state of the art in Com putational Kinematics. We understand here under this term that branch of kinematics research involving intensive computations not only of the nu merical type, but also of symbolic as well as geometric nature. Research in kinematics over the last decade has been remarkably ori ented towards the computational aspects of kinematics problems. In fact, this work has been prompted by the need to answer fundamental questions such as the number of solutions, whether real or complex, that a given problem can admit as well as computational algorithms to support geo metric analysis. Problems of the first kind occur frequently in the analysis and synthesis of kinematic chains, when fine displacements are considered. The associated models, that are derived from kinematic relations known as closure equations, lead to systems of nonlinear algebraic equations in the variables or parameters sought. The algebraic equations at hand can take the form of multivariate polynomials or may involve trigonometric functions of unknown angles.
Categories: Technology & Engineering

Advances in Robot Kinematics Analysis and Control

Advances in Robot Kinematics  Analysis and Control

Structural Dynamics. John Wiley & Sons. Fanghella, P., and Galletti, C., 1993. A Modular Method for Computational Kinematics. Computational Kinematics, J. Angeles et al., Eds., Kluwer Academic Publisher, pp. 275-284.

Author: Jadran Lenarčič

Publisher: Springer Science & Business Media

ISBN: 9789401590648

Category: Technology & Engineering

Page: 582

View: 194

The contributions in this book were presented at the sixth international symposium on Advances in Robot Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The preceding symposia of the series took place in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever since its first event, ARK has attracted the most outstanding authors in the area and managed to create a perfect combination of professionalism and friendly athmosphere. We are glad to observe that, in spite of a strong competition of many international conferences and meetings, ARK is continuing to grow in terms of the number of participants and in terms of its scientific impact. In its ten years, ARK has contributed to develop a remarkable scientific community in the area of robot kinematics. The last four symposia were organised under the patronage of the International Federation for the Theory of Machines and Mechanisms -IFToMM. interest to researchers, doctoral students and teachers, The book is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, design, and control of robots. It is divided into sections that were found as the prevalent areas of the contemporary kinematics research. As it can easily be noticed, an important part of the book is dedicated to various aspects of the kinematics of parallel mechanisms that persist to be one of the most attractive areas of research in robot kinematics.
Categories: Technology & Engineering

Advances in Robot Kinematics 2018

Advances in Robot Kinematics 2018

Rodriguez-Leal, E., Dai, J.S., Pennock, G.R.: Inverse kinematics and motion simulation of a 2-DOF parallel manipulator with 3-PUP legs. In: Kecskeméthy, A., Müller, A. (eds.) Computational Kinematics, Proceedings of the 5th ...

Author: Jadran Lenarcic

Publisher: Springer

ISBN: 9783319931883

Category: Technology & Engineering

Page: 477

View: 911

This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Categories: Technology & Engineering

Advances in Robot Kinematics Motion in Man and Machine

Advances in Robot Kinematics  Motion in Man and Machine

Workspace and assembly modes in fully-parallel manipulators: A descriptive study, in Advances in Robot Kinematics and Computational Geometry, pp. 117– 126. Kluwer Academic Publishers (1998). 6. H. Bamberger, A. Wolf, and M. Shoham.

Author: Jadran Lenarčič

Publisher: Springer Science & Business Media

ISBN: 9789048192625

Category: Technology & Engineering

Page: 551

View: 912

The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.
Categories: Technology & Engineering

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

A closed-form solution for the direct kinematics of a special class of spherical three-degree-of-freedom parallel manipulators. In J.-P. Merlet & B. Ravani (Eds.), Computational Kinematics, Proceedings of the Second Workshop on ...

Author: Jaime Gallardo-Alvarado

Publisher: Springer

ISBN: 9783319311265

Category: Technology & Engineering

Page: 377

View: 982

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Categories: Technology & Engineering

The Configuration Space Method for Kinematic Design of Mechanisms

The Configuration Space Method for Kinematic Design of Mechanisms

Kinematic Synthesis of Linkages. McGraw-Hill, New York, 1964. [28] Edward J. Haug. Computer-Aided Kinematics and Dynamics of Mechanical Systems. Allyn and Bacon, Needham Heights, MA, ... Computational kinematics. Artificial Intelligence ...

Author: Elisha Sacks

Publisher: MIT Press

ISBN: 9780262013895

Category: Computers

Page: 213

View: 124

A novel algorithmic approach to mechanism design based on a geometric representation of kinematic function called configuration space partitions. This book presents the configuration space method for computer-aided design of mechanisms with changing part contacts. Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis, synthesis, and tolerancing. It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts. It will help designers detect and correct design flaws and unexpected kinematic behaviors, as demonstrated in the book's four case studies taken from industry. After presenting the configuration space framework and algorithms for mechanism kinematics, the authors describe algorithms for kinematic analysis, tolerancing, and synthesis based on configuration spaces. The case studies follow, illustrating the application of the configuration space method to the analysis and design of automotive, micro-mechanical, and optical mechanisms. Appendixes offer a catalog of higher-pair mechanisms and a description of HIPAIR, an open source C++ mechanical design system that implements some of the configuration space methods described in the book, including configuration space visualization and kinematic simulation. HIPAIR comes with an interactive graphical user interface and many sample mechanism input files. The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students, researchers, and engineers in mechanical engineering, computer science, and robotics.
Categories: Computers