Mostra el registre d'ítem simple
Planning singularity-free force-feasible paths on the Stewart platform
dc.contributor.author | Bohigas Nadal, Oriol |
dc.contributor.author | Manubens Ferriol, Montserrat |
dc.contributor.author | Ros Giralt, Lluís |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-01-14T17:43:09Z |
dc.date.available | 2013-01-14T17:43:09Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Bohigas, O.; Manubens, M.; Ros, L. Planning singularity-free force-feasible paths on the Stewart platform. A: International Symposium on Advances in Robot Kinematics. "Latest Advances in Robot Kinematics". Innsbruck: Springer, 2012, p. 245-252. |
dc.identifier.uri | http://hdl.handle.net/2117/17355 |
dc.description.abstract | This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform to counteract any external wrench lying inside a predefined six-dimensional region. In particular, the Jacobian matrix of the manipulator will be full rank along such path, so that the path will not traverse the forward singularity locus at any point. The path is computed by first characterizing the force-feasible C-space of the manipulator as the solution set of a system of equations, and then using a higher-dimensional continuation technique to explore this set systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Springer |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Dynamics |
dc.subject.other | robot kinematics PARAULES AUTOR: singularity-free path planning |
dc.subject.other | higher-dimensional continuation |
dc.subject.other | singularity avoidance |
dc.subject.other | Stewart platform |
dc.title | Planning singularity-free force-feasible paths on the Stewart platform |
dc.type | Conference report |
dc.subject.lemac | Robots -- Dinàmica |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.contributor.group | Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta |
dc.identifier.doi | 10.1007/978-94-007-4620-6_31 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | http://dx.doi.org/10.1007/978-94-007-4620-6_31 |
dc.rights.access | Open Access |
local.identifier.drac | 10873849 |
dc.description.version | Preprint |
local.citation.author | Bohigas, O.; Manubens, M.; Ros, L. |
local.citation.contributor | International Symposium on Advances in Robot Kinematics |
local.citation.pubplace | Innsbruck |
local.citation.publicationName | Latest Advances in Robot Kinematics |
local.citation.startingPage | 245 |
local.citation.endingPage | 252 |