Bibliothèque de L'IMIST/CNRST

Includes bibliographical references and index.

A kinematic calibration of in-parallel actuated mechanisms using Fourier series (evaluation index for determination of the set of measurement paths) / G. Shen, Y. Takeda and H. Funabashi -- Dynamic performance indices for 3-DOF parallel manipulators / R. Di Gregorio and V. Parenti-Castelli -- Evaluation of a Cartesian parallel manipulator / H.S. Kim and L.-W. Tsai -- Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system / T.K. Tanev and J. Rooney -- Linearized kinematics for state estimation in robotics / K. Parsa, J. Angeles and A.K. Misra -- Performance evaluation of the grasp of two cooperating robots using a type map / N. Gascons, H. Su and J.M. McCarthy.

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.