Exploració per tema "branch-and-prune method"
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A linear relaxation method for computing workspace slices of the Stewart platform
(ASME PRESS, 2013)
Article
Accés restringit per política de l'editorialThe workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute ... -
Numerical computation of manipulator singularities
(IEEE, 2012)
Text en actes de congrés
Accés obertThis paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ... -
On the numerical classification of the singularities of robot manipulators
(2013)
Text en actes de congrés
Accés obertThis paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ... -
Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case
(2013)
Article
Accés obertThe study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric ...