Forward kinematics of the general triple-arm robot using a distance-based formulation
Document typeConference report
Rights accessOpen Access
Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize these techniques to spatial mechanisms exhibit somelimitations such as the impossibility of incorporating orientation constraints. For the first time, thispaper presents a complete satisfactory generalization. As an example, it is applied to obtain a clo-sure polynomial for the the general triple-arm parallel robot (that is, the 3-RPS 3-DOF robot). Thispolynomial, not linked to any particular reference frame, is obtained without variable eliminationsor tangent-half-angle substitutions
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CitationRojas, N.; Thomas, F. Forward kinematics of the general triple-arm robot using a distance-based formulation. A: Computational Kinematics. "7th International Workshop on Computational Kinematics: Futuroscope-Poitiers, France: 2017: proceedings book". Berlín: Springer, 2017, p. 257-264.