Forward kinematics of the general triple-arm robot using a distance-based formulation

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Forward kinematics of the general triple-arm robot using a distance-based formulation

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Rojas, Nicolas / Thomas, Federico

The final publication is available at link.springer.com ; Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize these techniques to spatial mechanisms exhibit somelimitations such as the impossibility of incorporating orientation constraints. For the first time, thispaper presents a complete satisfactory generalization. As an example, it is applied to obtain a clo-sure polynomial for the the general triple-arm parallel robot (that is, the 3-RPS 3-DOF robot). Thispolynomial, not linked to any particular reference frame, is obtained without variable eliminationsor tangent-half-angle substitutions ; Peer Reviewed ; Postprint (author's final draft)

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Dokumentinformationen

Titel :

Forward kinematics of the general triple-arm robot using a distance-based formulation

Beteiligte:

Rojas, Nicolas (Autor:in) / Thomas, Federico (Autor:in) / Institut de Robòtica i Informàtica Industrial / Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots

Erscheinungsdatum :

2017-01-01

DOI :

https://doi.org/10.1007/978-3-319-60867-9_29

Medientyp :

Sonstige

Format :

Elektronische Ressource

Sprache :

Englisch

Schlagwörter :

Àrees temàtiques de la UPC::Informàtica::Robòtica , Distance-based formulations , Forward kinematics , Triple-arm parallel robot , Classificació INSPEC::Automation::Robots::Robot kinematics