Robot Kinematics and Motion Planning

Wayne Adams (Editor)

Series: Robotics Research and Technology
BISAC: TEC037000

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The authors’ of this book focus on the latest developments in robot kinematics and motion planning. The first chapter seeks to identify the governing rules implemented in the central nervous system (CNS) to solve redundant mapping problems from an experimental observation approach. The novelty of this chapter is in the obtained motion planning results for a constraint elbow joint during reaching movements.

The second chapter focuses on the problems that exist in the two-norm and infinity-norm and solutions to these problems involving bi-criteria (BC) motion planning schemes of different joint-level vectors. In the third chapter, trajectory generation methods for the application of thermal spraying processes are introduced. In the fourth chapter, an investigation on the robot kinematics is proposed to find the rules of motion in an application case. The results demonstrate the motion behavior of each axis in the robot that consequently permits the identification of the motion problems in the trajectory. In the fifth chapter, kinematic properties of a new planar parallel manipulator is investigated by means of the theory of screws.
(Imprint: Nova)

Preface

Chapter 1
Experimental Observations on Human Reaching Motion Planning with and without a Reduced Mobility
(Hyosang Moon, Nina Robson, Reza Langari, John Buchanan, Department of Mechanical Engineering, California State University Fullerton, CA, USA, and others)

Chapter 2
Bi-Criteria Motion Planning of Robot Manipulators Based on QP Formulations and Neuronet Solvers
(Yunong Zhang, Keke Zhai, Xiaogang Yan, Long Jin, Lei Zhang, School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China, and others)

Chapter 3
Generation of Robot Trajectory for Thermal Spray
(SiHao Deng, ChaoYue Chen, Laboratoire d’Etudes et de Recherches sur les Matériaux, les Procédés et les Surfaces(LERMPS), Université de Technologie de Belfort-Montbéliard(UTBM), Belfort Cedex, France)

Chapter 4
Kinematic Analysis of Robot Trajectory for Thermal Spray
(SiHao Deng, ChaoYue Chen, Laboratoire d’Etudes et de Recherches sur les Matériaux, les Procédés et les Surfaces(LERMPS), Université de Technologie de Belfort-Montbéliard(UTBM), Belfort Cedex, France)

Chapter 5
A Redundant Partially Decoupled Planar Parallel Manipulator
(Jaime Gallardo-Alvarado, Ramón Rodríguez-Castro, Luis A. Alcaráz-Caracheo and Luciano Pérez-González, Department of Mechanical Engineering,
Instituto Tecnológico de Celaya, TNM, México)

Index

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