Rights accessRestricted access - publisher's policy
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 can be derived directly from that of the widely known 3-RPR robot by simply formulating these polynomials in terms of distances and oriented areas. This is a relevant result because it avoids the case-by-case treatment that requires different sets of variable eliminations to obtain the univariate polynomial of each fully parallel planar robot.
CitationRojas, N.E.; Thomas, F. The univariate closure conditions of all fully parallel planar robots derived from a single polynomial. "IEEE transactions on robotics", Juny 2013, vol. 29, núm. 3, p. 758-765.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com