The sensor localization problem can be formalized using distance and orientation constraints, typically in 3D. Local methods can be used to refine an initial location estimation, but in many cases such estimation is not ...

A real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ...

In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements ...

A pentapod is usually defined as a 5-degree-offreedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling ...

This paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster's arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of ...

A strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip ...

In most practical implementations of the Gough- Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the Gough-Stewart platform, commonly ...

The real roots of the univariate polynomial closure condition of a planar parallel robot determine the solutions of its forward kinematics. This paper shows how the univariate polynomials of all fully parallel planar robots ...

The forward kinematics of the Gough-Stewart platform, and their simplified versions in which some leg endpoints coalesce, has been typically solved using variable elimination methods. In this paper, we cast doubts on whether ...