The systematic study of kinematics can be traced to the writings of the ancient Greeks, Egyptians, Romans and Persians as far back as 500 B.C. For many centuries kinematics (along with geometry) was regarded as one of the basic sciences that explained observed physical phenomena and was used to engineer machines. Though it may seem unlikely, kinematics (in particular, robot kinematics) can significantly contribute to our understanding of biological systems and their functions at the microscopic level and to the engineering of new diagnostic tools, treatments, and drugs for a variety of diseases. Given the vast body of knowledge in theoretical, applied, and analytical kinematics and robotics, the conspicuous absence of the kinematics community from current molecular science research relating to the prediction of protein folding, protein docking, protein engineering, and drug design seems puzzling. In this paper, we will discuss the potential contributions of kinematics to some current challenges in biotechnology.
Issue Section:
Technical Papers
1.
Voet, D., and Voet, J., 1995, Biochemistry, 2nd edition, John Wiley & Sons.
2.
Cantor, C. R., and Schimmel, P. R., 1997, Biophysical Chemistry. The Conformation of Biological Macromolecules, W.H. Freeman & Co.
3.
Engh
, R. A.
, and Huber
, R.
, 1991
, “Accurate Bond and Angle Parameters for X-Ray Protein Structure Refinement
,” Acta Crystallogr., Sect. A: Found. Crystallogr.
, A47
, pp. 392
–400
.4.
Branden, C., and Tooze, J., 1991, Introduction to Protein Structure, 2nd edition, Garland Publishing.
5.
Lesk, A. M., 2001, Introduction to Protein Architecture, Oxford University Press.
6.
Moult
, J.
, 1999
, “Predicting Protein Three-Dimensional Structure
,” Curr. Opin. Biotechnol.
, 10
, pp. 583
–588
.7.
Floudas, C. A., Klepeis, J. L., and Pardalos, P. M., 2000, “Global Optimization Approaches in Protein Folding and Peptide Docking,” DIMACS Series in Discrete Mathematics and Theoretical Computer Science.
8.
Burkert, U., and Allinger, N., 1982, Molecular Mechanics, Oxford University Press.
9.
Rappe, A., and Casewit, C., 1991, Molecular Mechanics Across Chemistry, University Science Books.
10.
Parsons, D., and Canny, J. F., 1994, “Geometric Problems in Molecular Biology and Robotics,” Proceedings of the Second International Conference on Intelligent Systems for Molecular Biology, Palo Alto, CA, August.
11.
Kavraki, L., 1996, “Geometry and the Discovery of New Ligands,” Proc. Int. Workshop on Algorithmic Foundations of Robotics (WAFR), pp. 435–448.
12.
Kavraki, L., and Latombe, J. C., 1998, “Probabilistic Roadmaps for Robot Path Planning,” Practical Motion Planning in Robotic, K. Gupta and A. del Pobil, eds., Wiley Press.
13.
Song, G., and Amato, N. M., 2000, “Motion Planning Approach to Folding: From Paper Craft to Protein Structure Prediction,” Technical Report TR00-001, Department of Computer Science, Texas A&M University, January.
14.
Chirikjian
, G. S.
, and Wang
, Y. F.
, 2000
, “Conformational Statistics of Stiff Macromolecules as Solutions to PDEs on the Rotation and Motion Groups
,” Phys. Rev. A
, 62
(1
), July, pp. 880
–892
.15.
Chirikjian
, G. S.
, 2001
, “Conformational Statistics of Macromolecules Using Generalized Convolution
,” Computational and Theoretical Polymer Science
,11
, February, pp. 143
–153
.16.
Chirikjian
, G. S.
, and Kyatkin
, A. B.
, 2000
, “An Operational Calculus for the Euclidean Motion Group: Applications in Robotics and Polymer Science
,” Journal of Fourier Analysis and Applications
,6
(6
), pp. 583
–606
.17.
Manocha
, D.
, Zhu
, Y.
, and Wright
, W.
, 1995
, “Conformational Analysis of Molecular Chains Using Nano-Kinematic
,” Computer Application of Biological Sciences (CABIOS)
,11
(1
), pp. 71
–86
.18.
Roth, B., and Raghavan, M., 1989, “Kinematic Analysis of the 6R Manipulator of General Geometry,” International Symposium on Robotics Research, pp. 314–320, Tokyo.
19.
Denavit
, J.
, and Hartenberg
, R. S.
, 1955
, “A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
,” ASME J. Appl. Mech.
, 77
, pp. 215
–221
.20.
Chase
, M.
, 1964
, “Vector Analysis of Linkages
,” ASME J. Eng. Ind.
, 85
(2
), June, pp. 300
–308
.21.
Kislitsin, A. P., 1954, “Tensor Methods in the Theory of Spatial Mechanisms,” Trudi Seminar Po Teroii Mashin I Mekhanizmov, Akedemia Nauk, USSR, Vol. 14, pp. 51–57.
22.
Osman
, M. O.
, and Mansour
, W. M.
, 1971
, “The Proximity Perturbation Method for the Kinematic Analysis of Six Link Mechanisms
,” J. Mec.
, 6
(2
), June, pp. 203
–212
.23.
Yuan
, M. S.
, and Freudenstien
, F.
, 1971, “Kinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates,” ASME J. Eng. Ind., 93(1), February.24.
Yang
, A. T.
, and Freudenstein
, F.
, 1964
, “Application of Dual-Number Quaternions Algebra to the Analysis of Spatial Mechanisms
,” ASME J. Appl. Mech.
, 86
(2
), June, pp. 300
–308
.25.
Sandor, G. N., 1968, “Principles of General Quaternion-Operator Method of Spatial Kinematic Synthesis,” ASME paper number 68-APM-1.
26.
Osman
, M. O.
, and Segaev
, D. N.
, 1972
, “Kinematic Analysis of Spatial Mechanisms by Means of Constant Distance Equations
,” Trans. Can. Soc. Mech. Eng.
, 1
(3
), pp. 129
–134
.27.
Duffy, J., 1980, Analysis of Mechanisms and Robot Manipulators, Edward Arnold Ltd.
28.
Gupta
, K. C.
, 1986
, “Kinematic Analysis of Manipulators Using the Zero Reference Position Description
,” Int. J. Robot. Res.
, 5
(2
), pp. 5
–13
.29.
Osman
, M. O.
, Bahgat
, B. M.
, and Dukkipati
, R. V.
, 1981
, “Kinematic Analysis of Spatial Mechanisms Using Train Components
,” ASME J. Mech. Des.
, 103
, October, pp. 823
–830
.30.
Kazerounian
, K.
, and Qian
, Z.
, 1989
, “Kinematics Calibration of Robotic Manipulators
,” ASME J. Mech. Trans. Autom. Des.
, 111
, December, pp. 482
–487
.31.
Kazerounian
, K.
, 1987
, “Optimal Manipulation of Redundant Robots
,” The International Journal of Robotics and Automation
,2
(2
), pp. 54
–60
.32.
Kazerounian
, K.
, and Nedungadi
, A.
, 1989
, “A Local Solution With Global Characteristics for Torque Optimization in Redundant Manipulators
,” Intl. Journal of Robotic Systems
,6
(5
), October, pp. 631
–654
.33.
Kazerounian
, K.
, and Nedungadi
, A.
, 1988
, “Redundancy Resolution of Serial Manipulators Based on Robot Dynamics
,” Mech. Mach. Theory
, 23
(4
), pp. 295
–303
.34.
Wang
, Z.
, and Kazerounian
, K.
, 1989
, “An Efficient Algorithm for Global Optimization in Redundant Manipulators
,” ASME J. Mech. Trans. Autom. Des.
, 111
, December, pp. 488
–493
.35.
Kazerounian
, K.
, and Wang
, Z.
, 1988
, “Global Versus Local Optimization in Redundancy Resolution of Robotic Manipulators
,” Int. J. Robot. Res.
, 7
(5
), pp. 3
–12
.Copyright © 2004
by ASME
You do not currently have access to this content.
