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Forward kinematics of the general triple-arm robot using a distance-based formulation
dc.contributor.author | Rojas, Nicolas |
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2019-04-26T07:21:05Z |
dc.date.available | 2019-04-26T07:21:05Z |
dc.date.issued | 2017 |
dc.identifier.citation | Rojas, 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. |
dc.identifier.isbn | 978-3-319-60866-2 |
dc.identifier.uri | http://hdl.handle.net/2117/132085 |
dc.description | The final publication is available at link.springer.com |
dc.description.abstract | 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 |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Springer |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Distance-based formulations |
dc.subject.other | Forward kinematics |
dc.subject.other | Triple-arm parallel robot |
dc.title | Forward kinematics of the general triple-arm robot using a distance-based formulation |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
dc.identifier.doi | 10.1007/978-3-319-60867-9_29 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007%2F978-3-319-60867-9_29 |
dc.rights.access | Open Access |
local.identifier.drac | 24252834 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO//DPI2014-57220-C2-2-P/ES/ESTRATEGIAS DE CONTROL PARA UN ROBOT ACTUADO POR CABLES PARA SIMULACION DE BAJA GRAVEDAD/ |
local.citation.author | Rojas, N.; Thomas, F. |
local.citation.contributor | Computational Kinematics |
local.citation.pubplace | Berlín |
local.citation.publicationName | 7th International Workshop on Computational Kinematics: Futuroscope-Poitiers, France: 2017: proceedings book |
local.citation.startingPage | 257 |
local.citation.endingPage | 264 |