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Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Thomas, Federico |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-03-25T17:27:20Z |
dc.date.available | 2011-03-25T17:27:20Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Borras, J.; Thomas, F.; Torras, C. Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms. A: Robotics: Science and Systems. "Robotics: Science and Systems Conference, 2010". Zaragoza: 2010, p. 1-8. |
dc.identifier.uri | http://hdl.handle.net/2117/12091 |
dc.description.abstract | 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 have been recently found to leave singularities invariant but, unfortunately, these rearrangements are only valid for Stewart-Gough platforms containing rigid components. In this work, the authors go a step further presenting singularity-invariant leg rearrangements that can be applied to any Stewart-Gough platform whose base and platform attachments are coplanar. The practical consequences of the presented theoretical results are illustrated with several examples including well-known architectures. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
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 |
dc.title | Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms |
dc.type | Conference report |
dc.subject.lemac | Robots -- Dinàmica |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | http://www.roboticsproceedings.org/rss06/p14.html |
dc.rights.access | Open Access |
local.identifier.drac | 4505054 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Borras, J.; Thomas, F.; Torras, C. |
local.citation.contributor | Robotics: Science and Systems |
local.citation.pubplace | Zaragoza |
local.citation.publicationName | Robotics: Science and Systems Conference, 2010 |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |