CDR - Cinemàtica i Disseny de Robots
(ASME PRESS, 2015)
Restricted access - publisher's policyThis paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ...
Restricted access - publisher's policyThis paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror ...