Note: Intro -- Preface -- Organization -- Table of Contents - Part II -- Parallel Robotics -- Kinematics Dexterity Analysis and Optimization of 4-UPS-UPU Parallel Robot Manipulator -- 1 Introduction -- 2 4-UPS-UPU Parallel Manipulator Model -- 3 4-UPS-UPU Parallel Manipulator Kinematics Model -- 3.1 Inverse Kinematics Solution -- 3.2 Jacobian Matrix of the Parallel Manipulator -- 4 Performance Index of Kinematics Dexterity -- 4.1 The Global Condition Index -- 4.2 The Global Gradient Index -- 4.3 The Workspace Analysis -- 5 The Multi-objective Optimization Problem of 4-UPS-UPU Parallel Robot Manipulator -- 5.1 The Optimization Model -- 5.2 The Optimization Results Analysis -- 6 Conclusion -- References -- Inverse Dynamics Analysis of a 6-PSS Parallel Manipulator -- 1 Introduction -- 2 Kinematic Analysis -- 2.1 Illustration of the 6-PSS Parallel Manipulator -- 2.2 Kinematics Model -- 2.3 Velocity Analysis -- 2.4 Acceleration Analysis -- 3 Jacobian Matrices -- 3.1 Jacobian Matrix of the Moving Platform -- 3.2 Jacobian Matrix of the Sliders -- 3.3 Jacobian Matrix of the Limbs -- 4 Virtual Work -- 4.1 Applied and Inertia Wrenches -- 4.2 Equations of Motion -- 5 Numerical Simulation -- 6 Conclusion -- References -- Elastodynamics of the Rigid-Flexible 3-RRR Mechanism Using ANCF Method -- 1 Introduction -- 2 Planar ANCF Based Beam Element -- 3 Modeling of the 3-RRR Mechanism -- 4 Solving the Equations of Motion -- 5 Results and Discussions -- 6 Conclusions -- References -- Kinematic Analysis and Control of a 3-DOF Parallel Mechanism -- 1 Introduction -- 2 Kinematic Analysis of Mechanism -- 2.1 Mechanism Description -- 2.2 Inverse Kinematics -- 2.3 Kinematic Jacobian Matrix -- 2.4 Forward Kinematics -- 3 Control Method -- 3.1 Iterative Learning Controller -- 3.2 Control System Based on the Task Space -- 3.3 Control System Based on the Joint Space. , 4 Simulations and Results Analysis -- 4.1 PD Control Based on the Task Space -- 4.2 Iterative Learning Control Based on the Joint Space -- 5 Conclusion -- References -- Experimental Study on Joint Positioning Control of an Ultrasonic Linear Motor Driven Planar Parallel Platform -- 1 Introduction -- 2 System Modeling and Identification -- 2.1 System Modeling -- 2.2 System Identification -- 3 Positioning Experiments -- 3.1 Absolute Accuracy Test -- 3.2 Repeatability Test -- 3.3 Sine Wave Trajectory Tracking -- 4 Conclusion -- References -- Stiffness Modeling and Optimization Analysis of a Novel 6-DOF Collaborative Parallel Manipulator -- 1 Introduction -- 2 Description of the CPM -- 3 Inverse Kinematics Modeling -- 4 Stiffness Analysis -- 4.1 Stiffness Modeling -- 4.2 Numerical Simulation -- 5 Optimization Study -- 5.1 Optimal Design of the Mechanism -- 5.2 Characteristics Analysis before and after Optimization -- 6 Conclusion -- References -- Experimental Characterization of Self-excited Vibration of a 3-RRR Parallel Robot -- 1 Introduction -- 2 Model of the 3-RRR Planar Parallel Robot -- 3 Experimental Characterization of Self-excited Vibration -- 3.1 The Positioning Self-oscillation -- 3.2 The Characteristics of the Mechatronics Servo System -- 4 Conclusion -- References -- Design of Less-Input More-Output Parallel Mechanisms -- 1 Research Background -- 1.1 The Li-Mo PMs Existing in Industrial Fields -- 1.2 The Needs of Emerging Industries -- 2 Classification of PMs and Definition of Li-Mo PMs -- 2.1 Classification of PMs and Description of the Design Problem -- 2.2 The Relationship among PMs Type and Number of Outputs and Inputs -- 3 Design for 3-Output PMs with Single Input -- 3.1 Study on 3D Parallel Vibration Sieve with Single Input -- 3.2 Study on the 3-Rotation Parallel Rehabilitation Training Device for Shoulder Joint with Single Input. , 4 Conclusions -- References -- Type Synthesis Approach for 2-DOF 1T1R Parallel Mechanisms Based on POC -- 1 Introduction -- 2 General Procedure of Type Synthesis Based on the POC Set -- 3 Type Synthesis for 1T1R Parallel Mechanism -- 4 Classification of Structure Type -- 5 Conclusions -- References -- Error Modeling and Simulation of a 2- DOF High-Speed Parallel Manipulator -- 1 Introduction -- 2 Inverse Kinematic -- 3 Error Modeling of the Manipulator -- 4 Simulation -- 4.1 Influence Coefficient -- 4.2 Pose Error Distribution in the Workspace -- 5 Improvement of the Manipulator -- 6 Conclusion -- References -- Robot Vision -- Fuzzy PD Compliance Control of 6-DOF Robot Using Disturbed Force Sense -- 1 Introduction -- 2 System Schematic (Plus Physical Model) -- 3 Controller Design -- 3.1 Character of Lowpass Filter -- 3.2 Using PD Control -- 3.3 Fuzzy PD Control -- 3.4 Evaluate the Controller -- 4 Experimental Results -- 5 Conclusions -- References -- Research Scheduling Problem of Job-Shop Robotic Manufacturing Cell with Several Robots -- 1 Introduction -- 2 Problem Formulation -- 3 Disjunctive Graph -- 4 Improved Genetic Algorithm -- 4.1 Local Search -- 5 Computational Results -- 6 Concluding Remarks -- References -- Research on Robotic Trajectory Automatic Generation Method for Complex Surface Grinding and Polishing -- 1 Introduction -- 2 Researching of the Trajectory Generation Problem of Robot for Complex Surface Grinding and Polishing -- 3 Algorithm of Grinding and Polishing Trajectory Generation for Complex Surface -- 3.1 Extracting Data Points from Complex Surface -- 3.2 Mathematical Model of Line-Section -- 3.3 Self-adaptive Sampling Base on Curvature for The Curve -- 4 Implementation of Algorithm and Instance Simulation -- 4.1 Description of Algorithm for Trajectory Automatic Generation -- 4.2 Instance Simulation -- 5 Conclusion. , References -- The Control System Design of A SCARA Robot -- 1 Introduction -- 2 The Mechanism and Kinematics of the SCARA Robot -- 3 The Framework of the Control System -- 4 The Design of Motion Interpolation -- 5 The Trajectory Planning Using Bezier Curve -- 6 Experiment Using Laser Tracker -- 7 Conclusions -- References -- Trajectory Planning with Bezier Curve in Cartesian Space for Industrial Gluing Robot -- 1 Introduction -- 2 Trajectory Planning with Bezier Curve in Cartesian Space -- 2.1 Generating the Path -- 2.2 Speed Controlling -- 3 Trajectory Planning with Cubic Spline in Joint Space -- 4 Performance of the Trajectory Generated by Bezier Curve and Cubic Spline -- 5 Conclusion -- References -- CogRSim: A Robotic Simulator Software -- 1 Introduction -- 2 Related Work -- 3 Architecture of CogRSim -- 3.1 General Architecture -- 3.2 Module Management -- 4 Detailed Implementation -- 4.1 Main Window -- 4.2 Scene Editor -- 4.3 2D Display in Real-Time -- 4.4 Camera -- 4.5 Infrared Sensor -- 4.6 Data Analysis and Display -- 4.7 World Model -- 5 Experimental Validation -- 6 Conclusions and Future Work -- References -- A Study of Positioning Error Compensation Using Optical-Sensor and Three-Frame -- 1 Introduction -- 2 The Problems of Experimental Environment -- 3 Moving Arrow Position Measurement System -- 4 Calibration Data Configuration and Precision Result -- 5 Result -- References -- An Ultrasonic Instrument for Osteoporosis Detecting -- 1 Introduction -- 2 Method -- 3 The Design of Ultrasonic Probe -- 4 Circuit Design of Crystal Straight Probe Detection System -- 4.1 Ultrasonic Transmission Circuit Design -- 4.2 Ultrasonic Receiving Circuit Design -- 5 Mechanical Design -- 6 Conclusion -- Reference -- Avoiding of the Kinematic Singularities of Contemporary Industrial Robots -- 1 Introduction -- 2 The Global Description of the Kinematics. , 3 The Differential Description of the Kinematics -- 4 The Singular Configurations -- 5 Summary -- References -- Mechatronics -- A Review of 3-D Reconstruction Based on Machine Vision -- 1 Introduction -- 2 Stereo Vision -- 3 Monocular Vision -- 3.1 Camera Parameters -- 3.2 Depth from Focus -- 3.3 Depth from Defocus -- 4 Shape from Shading -- 4.1 Methods and Algorithms -- 4.2 Reflection Models -- 5 Conclusions -- 5.1 Performance Comparison of 3-D Methods Based on MV -- 5.2 Development Trends -- References -- Research on Surface Mounted IC Devices Inspection Based on Lead's Features* -- 1 Introduction -- 2 Illumination System and Devices Image -- 2.1 Light Illumination System and Optical Structure -- 2.2 Device Image Analyzing -- 3 Leads Location -- 3.1 Location of Left and Right Boundary -- 3.2 Location of Top and Bottom Boundary -- 4 Feature Analyzing and Inspection -- 5 Experiments Results -- 5.1 Training Procedure -- 5.2 Performance Evaluation of the Proposed Method -- 6 Conclusion -- References -- A Fast Coplanarity Inspection System for Double-Sides IC Leads Using Single Viewpoint -- 1 Introduction -- 2 Imaging Optical Structure -- 3 Inspection Algorithm -- 3.1 IC Lead Tips Searching -- 3.2 Sub-pixel Positioning -- 3.3 Judgment Criterion -- 4 Experiments and Results -- 4.1 Experiment Platform -- 4.2 Statistical Procedure -- 4.3 Inspection Procedure -- 5 Conclusion -- References -- An Adaptive Enhancement Algorithm of Materials Bag Image of Industrial Scene -- 1 Introduction -- 2 Pal -k Fuzzy Enhancement Algorithm -- 3 Image Classification Based on OTSU Algorithm -- 4 Adaptive Image Contrast Enhancement Algorithm -- 4.1 Image Local Contrast Transformation -- 4.2 Selection of the Crossover Point -- 4.3 A Novel Membership Function -- 4.4 Fuzzy Contrast Image Enhancement -- 4.5 The Description of Proposed Algorithm. , 5 Experimental Results and Discussions.