Advances in Robot Kinematics: Analysis and Design (2008)

Preface; SINGULARITY ANALYSIS OF PARALLEL MANIPULATORS; A New Assessment of Singularities of Parallel Kinematic Chains, by Michele Conconi and Marco Carricato; Singularity Analysis through Static Analysis, by J. Hubert and J.-P. Merlet; Constraint Singularities and the Structural Parameters of Parallel Robots, by Grigore Gogu; Forward Kinematics and Singularity Analysis of a 3-RPR Planar Parallel Manipulator, by Xianwen Kong; Geometric Algebra Approach to Singularity of Parallel Manipulators with Limited Mobility, by Tanio K. Tanev; SinguLab - A Graphical User Interface for the Singularity Analysis of Parallel Robots Based on Grassmann-Cayley Algebra, by Patricia Ben-Horin, Moshe Shoham, Stéphane Caro, Damien Chablat and Philippe Wenger; Singularity Analysis of Limited-DOF Parallel Manipulators Using Grassmann-Cayley Algebra, by Daniel Kanaan, Philippe Wenger and Damien Chablat; DESIGN OF ROBOTS AND MECHANISMS; On the Design of Fully Constrained Parallel Cable-Driven Robots, by M. Gouttefarde, S. Krut, O. Company, F. Pierot and N. Ramdani; Synthesis of Part Orienting Devices for Spatial Assembly Tasks, by P. Larochelle; Minimum EnergyManipulator Design, by A. Rojas Salgado and Y. Ledezman Rubio; Synthesis and Analysis of a Constrained Spherical Parallel Manipulator, by G.S. Soh and J.M. McCarthy; A Nonholonomic 3-DOF Parallel Robot, by Patricia Ben-Horin and Federico Thomas; 4DOF Parallel Architecture for Laparoscopic Surgery, by Mohammad Aamir Khan, Matteo Zoppi and Rezio Molfino; Flapping-Wing Mechanism for a Bird-Sized UAVs: Design, Modeling and Control, by Ch. Grand, P. Martinelli, J.-B. Mouret and S. Doncieux; Extended Jacobian Inverse Kinematics and Approximation of Distributions, by Mariusz Janiak and Krzysztof Tcho´n; A Screw Syzygy with Applications to Robot Singularity Computation, by J.M. Selig and Peter Donelan; Singularity Robust Jacobian Inverse Kinematics for Mobile Manipulators, by Krzysztof Tcho´n and Lukasz Malek;Robots Based on Assur Group A (3.5), by Karl Wohlart; Kinematics of Free-Floating Systems through Optimal Control Theory, by G. Le Vey; Genericity Conditions for Serial Manipulators, by Peter Donelan; Alternative Forms for Displacement Screws and Their Pitches, by I.A. Parkin; MOTION PLANNING AND MOBILITY; Time-Invariant Strategies in Coordination of Human Reaching, by Satyajit Ambike and James P. Schmiedeler; Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms, by A. Müller and J.M. Rico; Optimization of a Test Trajectory for SCARA Systems, by J.-F. Gauthier, J. Angeles and S. Nokleby; Singularity Free Path Planning for Parallel Robots, by Samir Lahouar, Saïd Zeghloul and Lotfi Romdhane; A Comparison between Two Motion Planning Strategies for Kinematically Redundant Parallel Manipulators, by J.A. Carretero, I. Ebrahimi and R. Boudreau; Trajectory Planning of Parallel Manipulators for Global Performance Optimization, by Ofelia G. Alba-Gómez, J. Alfonso Pamanes and Philippe Wenger; Human Motion Reconstruction by Direct Control of Marker Trajectories, by Emel Demircan, Luis Sentis, Vincent De Sapio and Oussama Khatib; PERFORMANCE AND PROPERTIES OF MECHANISMS; New Self-Motions of Parallel Manipulators, by Adolf Karger; Exact Envelope Computation for Moving Surfaces with Quadratic Support Functions, by Margot Rabl, Bert Jüttler and Laureano Gonzalez-Vega; A Compound-Structure Frame for Improving the Performance of a Dielectric Elastomer Actuator, by Giovanni Berselli, Rocco Vertechy, Gabriele Vassura and Vincenzo Parenti Castelli; Transitions between Multiple Solutions of the Direct Kinematic Problem, by E. Macho, O. Altuzarra, C. Pinto and A. Hernandez; Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation, by N. Rakotomanga, D. Chablat and S. Caro; Results on Planar Parallel Manipulators with Cylindrical Singularity Surface, by G. Nawratil; Stiffness Matrix of Compliant Parallel