E-grāmata: Advances in Robot Kinematics 2022

PART 1: Theoretical Kinematics.- Möbius Linkages.- On Origami-Like
Quasi-Mechanisms with an Antiprismatic Skeleton.- Line-Point Constraints and
Robot Surgery.- On the Use of Ternary Products to Characterize the Dexterity
of Spatial Kinematic Chains.- Extended Rotation Matrix for Kinematics of
Pointing Mechanism.- A Linearization Method based on Lie Algebra for Pose
Estimation in a Time Horizon.- Hyper-Multidual Algebra and Higher-Order
Kinematics.- Geometry based Analysis of 3R Serial Robots.- Synthesis of
Gripper Mechanisms Derived from Baranov Chains.- 6R Linkages with Hidden
Singularities.- PART 2: Cable Driven Manipulators.- Best Operation Regions in
a Planar Cable-Driven System.- Stiffness and Transparency of a Collaborative
Cable-Driven Parallel Robot.- An Approach for Predicting the Calibration
Accuracy in Planar Cable-Driven Parallel Robots.- A Panorama of Methods for
Dealing with Sagging Cables in Cable-Driven Parallel Robots.- Sensitivity of
the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to
Redundant Sensor-Measurement Errors.- Stacked Tensegrity Mechanism for
Medical Application.- Kinematic and Static Analysis of a Cable-Driven 2-X
Tensegrity Manipulator for Two Actuation Strategies.- PART 3: Computational
Kinematics.- Complete Inverse Geometric Model Computation of the Quattro
Parallel Kinematic Robot.- A New Approach to Forward Kinematics for a SILS
Robotic Orientation Platform based on Perturbation Theory.- Forward
Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator.- Structural and
Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using
Tait-Bryan-Angle Kinematic Constraints.- Inverse Kinematics for Functional
Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle
Kinematic Constraints.- PART 4: Continuum Mechanisms.- Analysis of a
Compliant Parallel Manipulator for Torso Balance Rehabilitation.- Design and
Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic
WorkingEnvironment.- Design and Inverse Kinematics of a Novel Tendon-Driven
Continuum Manipulator Capable of Twisting Motion.- Geometric Insights into
Kinematically-Singular Configurations of Planar Continuum Robots.- A Gazebo
Simulator for Continuum Parallel Robots.- Exploring Electric Field
Perturbations as the Actuator for Nanorobots and Nanomachines.- PART 5:
Mechanism Synthesis.- General Procedure for Path Generation Synthesis based
on Kinematic constraints.- Finding Straight Line Generators through the
Approximate Synthesis of Symmetric Four-bar Coupler Curves.- A Method for the
Complete Set of Solutions of the Finite-Position Synthesis Problem.-
Classification of Mobilities - New insights on an old topic.- First and
Second Order Centrodes of Slider-Crank Mechanisms by using Instantaneous
Invariants.- Spherical 4R Linkage Algebraic vi-vj Input-output Equations.-
PART 6: Spherical Mechanisms.- Kinematics of a Gear-Based Spherical
Mechanism.- Modeling of a Remote Center of Motion Spherical Parallel
Tensegrity Mechanism for Percutaneous Interventions.- Wriflex: Design and
Kinematic Analysis of a Self-Aligning Parallel Wrist.- Kinematic Analysis of
a Novel Humanoid Wrist Parallel Mechanism.- PART 7: Biomechanics.- Smooth
Wrapping of Stretchable Thick Strands Over a Surface - the 2D Case.-
Exploiting Reciprocity between Constraints and Instantaneous Motion to
Reconstruct Individual Knee Kinematics.- Generation of Parametric Gait
Patterns.- Parametrization of Compliant, Object-Level Controllers from Human
Demonstrations.- PART 8: Linkages.- Geometric Model for Serial-Chain Robot
Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and
Functional Redundancy.- The Distance Geometry of the Generalized Lobster's
Arm.- Degenerate Cases in the Inverse Kinematics Problem of a General 6R
Serial Robot.- The Spatial Pantograph and its Mass Balance.- A New Family of
Overconstrained P5R-Mechanisms.- PART 9: Motion Planning.- Trajectory Planner
for Type II Singularities Avoidance based on Output Twist Screws.-
Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic
Manipulators.- Robotic Analysation Methodology for Multidirectional Additive
Manufacturing Process Configuration.- An Artificial Potential Field Algorithm
for Path Planning of Redundant Manipulators based on Navigation Functions.-
Reactive Locomotion of a Hexapod for Navigation across Irregular Ground.- 
Trajectory Tracking by Fuzzy-based Super-twist Sliding Mode Control of a
Parallel PnP Robot.