**Meet the editor**

Dr. Eng. Efren Gorrostieta is a professor at the Engineering Faculty of the Autonomous University of Queretaro, Mexico. He studied Electronic Engineering in Western Institute of Technology and Higher Education (ITESO) and received a Master degree in Science in Control and Automation and a PhD degree in Mechatronics. He was a cofounder of the Mechatronics Mexican Association,

the president of the IEEE Queretaro Section, and the chair of the IEEE Queretaro Computational Intelligence Chapter. He has given lectures in control systems and robotics at different universities and has been a chair, reviewer, and editor in several national/international congresses related to robotics, automation, and artificial intelligence. He has several publications in conferences and journals in the field.

Contents

**Preface VII**

Takagi

**Aircraft Systems 55**

Takashi Harada

**Technique 113**

Ondrej Hock and Jozef Šedo

Chapter 1 **Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review 1**

Abdur Rosyid, Bashar El-Khasawneh and Anas Alazzam

Chapter 2 **The Inertia Value Transformation in Maritime Applications 23** Holger Korte, Sven Stuppe, Jan-Hendrik Wesuls and Tsutomu

Chapter 3 **Path Planning in the Local-Level Frame for Small Unmanned**

Chapter 4 **Forward and Inverse Kinematics Using Pseudoinverse and Transposition Method for Robotic Arm DOBOT 75**

Chapter 5 **How to Expand the Workspace of Parallel Robots 95**

Chapter 6 **Kinematic and Biodynamic Model of the Long Jump**

Milan Čoh, Milan Žvan and Otmar Kugovnik

Rodríguez-Jorge and Rafael Torres-Córdoba

**Resources Under Uncertainties 129**

**Goal Direction and Evasion 147**

Chapter 7 **Kinematic Model for Project Scheduling with Constrained**

Giuliani Paulineli Garbi and Francisco José Grandinetti

Chapter 8 **WMR Kinematic Control Using Underactuated Mechanisms for**

Jorge U. Reyes-Muñoz, Edgar A. Martínez-García, Ricardo

Laith R. Sahawneh and Randal W. Beard

## Contents

#### **Preface XI**



Chapter 9 **A New Methodology for Kinematic Parameter Identification in Laser Trackers 171** Ana Cristina Majarena, Javier Conte, Jorge Santolaria and Raquel

Chapter 10 **Optimization of Single-Sided Lapping Kinematics Based on Statistical Analysis of Abrasive Particles Trajectories 193** Adam Barylski and Norbert Piotrowski

Acero

Chapter 11 **Optimization Approach for Inverse Kinematic Solution 213** Panchanand Jha and Bibhuti Bhusan Biswal

#### Chapter 12 **A Random Multi-Trajectory Generation Method for Online Emergency Threat Management (Analysis and Application in Path Planning Algorithm) 235**

Liang Yang, Yuqing He, Jizhong Xiao, Bing Li and Zhaoming Liu

Preface

ed by the dynamics.

op new technologies.

see the use of scope and importance of the subject.

The study of the movements of bodies and particles in space is one of the most important tasks in the development of different areas; as an example of this issue is the robotics field where the kinematics occupies an important role in its development, which is complement‐

Given the importance of the subject in different areas of knowledge, there is a constant search for new technology and methods that allow us to understand and facilitate its study and in the same way to contribute with new techniques and ideas in the growth of this area. This is the reason why we can find research groups dedicated to the development of this area. The present work presents a compilation of the efforts made by researchers in several institutions at different parts of the world, and in this way, we can find the evolution in recent years, like applications in navigation systems and new methods for analysis, which are important in the proposal of new paradigms. Also, there are applications in mobile ro‐ botic path planning, robot manipulators, parallel robots, development of control systems and kinematic modeling to understand the behavior of the human body, applications in the processes of measurements in different stages of the processes, optimization of the parame‐ ters that allows better performance in mechanical systems, and so on. Moreover, we can find works that make use of some artificial intelligence techniques allowing a new approach to the kinematics among other things. Finally, there are works in different areas that allow to

This area also offers us an opportunity to grow using and combining many other techniques such as quaternions, differential mechanics, artificial intelligence applications, and dynamic programming, to name a few, while at the same time bringing us the idea on how to devel‐

I appreciate the contribution and professional work of each of the researchers who contrib‐ uted by sharing their work, development, and ideas that allowed us to present this book today and share all this information with readers and the rest of the scientific community.

**Dr. Eng. Efren Gorrostieta**

Cerro de las Campanas S/N,

Queretaro, Qro,

Mexico

Autonomous University of Queretaro,

Faculty of Engineering, Mechatronics Laboratory,
