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Analysing the singularities of 6-SPS parallel robots using virtual legs
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Thomas, Federico |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2009-03-13T09:29:30Z |
dc.date.available | 2009-03-13T09:29:30Z |
dc.date.created | 2008 |
dc.date.issued | 2008 |
dc.identifier.citation | Borràs Sol, Júlia; Thomas, Federico; Torras, Carme. "Analysing the singularities of 6-SPS parallel robots using virtual legs". A: Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel), Montpeller, França, 2008. LIRMM, 2008, p. 145-150. |
dc.identifier.uri | http://hdl.handle.net/2117/2736 |
dc.description.abstract | A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. In this paper, we consider four different rigid subassemblies, and show how the singularities of a robot containing one or several of these subassemblies are modified when substituting its actual legs by virtual legs. |
dc.format.extent | p. 145 - 150 |
dc.language.iso | eng |
dc.publisher | LIRMM |
dc.relation.ispartof | International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel) |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Kinematics |
dc.title | Analysing the singularities of 6-SPS parallel robots using virtual legs |
dc.type | Conference report |
dc.subject.lemac | Robots |
dc.subject.lemac | Cinemàtica |
dc.date.end | 2008-09-22 |
dc.date.start | 2008-09-21 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.rights.access | Open Access |
local.identifier.drac | 5472925 |
local.personalitzacitacio | true |