As stated in the preface, the goal of this book is two-fold:(i) to explore the underlying
principles of kinematic geometry which are so important for an understanding of rigid body …

The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential map**. The product of exponentials (POE) describes the configuration of a …

This thesis results from my research activity at the Institute of Mechatronics and System
Dynamics at the University Duisburg-Essen, partially funded by Deutsche …

The differential kinematic equations (DKE) of parallel manip ulators usually involve two
Jacobian matrices that, depending on the role they play in the kinetostatic transformation …

Numerous performance indices have been proposed to compare robot architectures based
on their kinematic properties. However, none of these indices seems to draw a consensus …

Although the Fourier transform is among engineering's most widely used mathematical tools,
few engineers realize that the extension of harmonic analysis to functions on groups holds …

Robot calibration is the process of enhancing the accuracy of a robot by modifying its control
software. This book provides a comprehensive treatment of the theory and implementation of …

The design of a robotic manipulator begins with the dimensioning of its various links to meet
performance specifications. However, a methodology for the determination of the …

Redundancy may occur in different ways in a robotic system. This article focuses on the
resolution of kinematic redundancy, ie, on the techniques for exploiting the redundant …

As the population ages, increasingly more individuals experience ankle disabilities caused
by stroke and cerebral palsy. Studies on parallel robots for ankle rehabilitation have been …