Computational Kinematics

Cable-Driven Parallel Manipulators.- Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism.- Extension of Antipodal Theorem to Workspace Analysis of Planar Wire-Actuated Manipulators.- Modelling and Simulation of a Cable-Based Parallel Manipulator as an Assisting Device.- Closed-form Force Distribution for Parallel Wire Robots.- Parallel Manipulators (1).- Computing the Configuration Space for Motion Planning between Assembly Modes.- Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators.- Non-singular assembly mode change in 3-RPR-parallel manipulators.- Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot.- Parallel Manipulators (2).- Forward displacement analysis of a 3-RPR planar parallel manipulator revisited.- Sensitivity and Dexterity Comparison of 3-RRR planar parallel manipulators.- Inverse Kinematics and Motion Simulation of a 2-DOF Parallel Manipulator with 3-PUP Legs.- ON NEW CLASS OF PARALLEL-CROSS MECHANISMS.- Motion Planning.- Motion Interpolation with Bennett Biarcs.- Motion Estimation using a Statistical Solid Dynamic Method.- Spatial Generalization of the Planar Path Generation Problem.- Motion Planning of Nonholonomic Systems with Dynamics.- Numerical Methods.- Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender).- Fast Distance Computation Using Quadratically Supported Surfaces.- On the Computation of the Home Posture of the McGill Schönflies-Motion Generator.- Hardware-in-the-Loop Simulation of Constraint Elements in Mechanical Systems.- Geometrical Methods.- Explicit Algebraic Solution of Geometrically Simple Serial Manipulators.- 3R Wrist Positioning - a Classical Problem and its Geometric Background.- A Geometric Newton-Raphson Method for Gough-Stewart Platforms.- Aspects of Clifford Algebra for Screw Theory.- Synthesis (1).- Uncoupled 6-dof Tripods via Group