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dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorRos Giralt, Lluís
dc.contributor.authorBohigas Nadal, Oriol
dc.contributor.authorManubens Ferriol, Montserrat
dc.contributor.authorRosales Gallegos, Carlos
dc.contributor.authorJaillet, Leonard Georges
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationPorta, J.M. [et al.]. An open-source toolbox for motion analysis of closed-chain mechanisms. A: Computational Kinematics. "Proceedings of the 6th International Workshop on Computational Kinematics (CK2013)". Barcelona: Springer, 2013, p. 147-154.
dc.description.abstractMany situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), there is a lack of general tools to effectively analyze the complex configuration spaces of such systems. This paper describes the CUIK suite, an open-source toolbox for motion analysis of general closed-chain mechanisms. The package can determine the motion range of the whole mechanism or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision- and singularity-free paths between given configurations. The toolbox is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona, and is available under GPLv3 license from
dc.format.extent8 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherRobots PARAULES AUTOR: kinematic constraints
dc.subject.othermotion analysis and planning
dc.subject.otherbranch-and prune
dc.subject.otherhigher-dimensional continuation
dc.titleAn open-source toolbox for motion analysis of closed-chain mechanisms
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.groupUniversitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorPorta, J.M.; Ros, L.; Bohigas, O.; Manubens, M.; Rosales, C.; Jaillet, L.G.
upcommons.citation.contributorComputational Kinematics
upcommons.citation.publicationNameProceedings of the 6th International Workshop on Computational Kinematics (CK2013)

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