Oscar Altuzarra & Andrés Kecskeméthy 
Advances in Robot Kinematics 2022 [PDF ebook] 

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-Do F 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 Working Environment.- 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 Do F, 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 Pn P Robot.