Advances in Robot Kinematics Mechanisms and Motion
This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the th
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ADVANCES IN ROBOT KINEMATICS
Advances in Robot Kinematics Mechanisms and Motion
Edited by
JADRAN LENARýIý Jožef Stefan Institute Ljubljana, Slovenia and
B. ROTH Stanford University California, U.S.A.
A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 ISBN-13 ISBN-10 ISBN-13
1-4020-4940-4 (HB) 978-1-4020-4940-8 (HB) 1-4020-4941-2 (e-book) 978-1-4020-4941-5 (e-book)
Published by Springer, P.O. Box 17, 3300 AA Dordrecht, The Netherlands. www.springer.com
Printed on acid-free paper
All Rights Reserved © 2006 Springer No part of this work may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording or otherwise, without written permission from the Publisher, with the exception of any material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Printed in the Netherlands.
Preface
This is the tenth book in the series of Advances in Robot Kinematics. Two were produced as workshop proceedings, Springer published one book in 1991 and since 1994 Kluwer published a book every two years without interruptions. These books deal with the theory and practice of robot kinematics and treat the motion of robots, in particular robot manipulators, without regard to how this motion is produced or controlled. Each book of Advances in Robot Kinematics reports the most recent research projects and presents many new discoveries. The issues addressed in this book 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. All the contributions had been rigorously reviewed by independent reviewers and fifty three articles had been recommended for publication. They were introduced in seven chapters. The authors discussed their results at the tenth international symposium on Advances in Robot Kinematics which was held in June 2006 in Ljubljana, Slovenia. The symposium was organized by Jozef Stefan Institute, Ljubljana, under the patronage of IFToMM - International Federation for the Promotion of Mechanism and Machine Science. We are grateful to the authors for their contributions and for their efficiency in preparing the manuscripts, and to the reviewers for their timely reviews and recommendations. We are also indebted to the personnel at Springer for their excellent technical and editorial support.
Jadran Lenarˇciˇc and Bernard Roth, editors
Contents
Methods in Kinematics J. Andrade-Cetto, F. Thomas Wire-based tracking using mutual infor