Computing Cusps of 3R Robots Using Distance GeometryKinematic Mapping of SE(4) and the Hypersphere ConditionDirect Kinematics of an Orthogonal 6PRRS Parallel ManipulatorThe Hidden Robot Concept: a Tool for Control Analysis and Robot Control-based DesignImpact of Perturbation on Wire Tension Vector A Deployable Parallel Wrist with Simple Kinematics Geometric Derivation of 6R Linkages with Circular Translation Function Synthesis of the Planar 5R Mechanism Using Least Squares ApproximationSome Remarks on the RRR Linkage Force Capability Polytope of a 4RRR Redundant Planar Parallel ManipulatorMotion Planning of Non-holonomic Parallel Orienting Platform: A Jacobian ApproachNon singular Change of Assembly Mode Without any Cusp The Influence of Discrete-Time Control on the Kinematic-StaticBehavior of Cable-Driven Parallel Robot with Elastic CablesDerivatives of Screw Systems in Body-fixed Representation Sharp LinkagesSolvable Multi-Fingered Hands for Exact Kinematic Synthesis Non-Singular Assembly Mode Changing Trajectories in the Workspace for the 3-RPS Parallel RobotInfluence of spring characteristics on the behavior of Tensegrity MechanismsHuman Motion Kinematics Assessment Using Wearable Sensors Stiffness Matrix of 6-DOF Cable-Driven Parallel Robots and its HomogenizationHuman Motion Mapping to a Robot Arm with Redundancy ResolutionAnalysis of Geometrical Force Calculation Algorithms for Cable-Driven Parallel Robots with a Threefold RedundancyKinetostatic Analysis of Cable-Driven Parallel Robots with Consideration of Sagging and PulleysDirect and Inverse Second Order Kinematics for Hyper-Redundant Parallel RobotsKinematic Design of Miura-Ori-Based Folding Structures Using the Screw Axis of a Relative DisplacementOn the Limitations on the Lower and Upper Tensions for Cable-driven Parallel RobotsCharacterization of the Subsystems in the General Three-System of ScrewsGeometrical Patterns for Measurement Pose Selection in Calibration of Serial ManipulatorsStiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of FreedomPoints, Lines, Screws and Planes in Dual Quaternions Kinematic Recovering Dual Euler Parameters from Feature-based Representation of MotionKinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending MachineKinematic Synthesis of a Watt I Six-bar Linkage for Body Guidance Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval AnalysisDevelopment of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping ApplicationsTrifurcation of the Evolved Sarrus-Motion Linkage Based on Parametric ConstraintsThe Kinematics of Containment The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Approximating Constrained Hand Paths via Kinematic Synthesis with Contact SpecificationsInvestigation of Error Propagation in Multi-Backbone Continuum RobotsKinematics of Expansive Planar Periodic Mechanisms From Inverse Kinematics to Optimal Control New Gravity Balancing Technique and Hybrid Actuation for Spatial Serial ManipulatorsAnalysis of Constraint Equations and Their Singularities Shape Optimized Heliostats for Kinematic Sun Tracking Efficient Resolution of Hyper-Redundancy Using Splines Kinematic Modeling of an EAP Actuated Continuum Robot for Active Micro-EndoscopyKinematics Analysis and Singularity Loci of a 4-UPU Parallel ManipulatorOn the Kinematics of an Innovative Parallel Robot for Brachytherapy Reconfigurable and Deployable Platonic Mechanisms with a Variable Revolute JointConditions for Sub-6th Order Screw Systems Composed of Three Planar Pencils of LinesAutomatic Optimal Biped Walking as a Mixed-Integer Quadratic ProgramMechanisms with Decoupled Freedoms Assembled from Spatial Deployable UnitsMotion Capability of the 3-RPS Cube Parallel Manipulator Coupling of Trajectories for Human-Robot Cooperative Tasks Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator

The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.

Includes the most recent results in the areaIncludes the most prominent authors and referencesCovers a wide spectrum of areas with the focus on robot kinematics - unique in the worldIncludes supplementary material: sn.pub/extras