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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2009-03-13T09:29:30Z
dc.date.available2009-03-13T09:29:30Z
dc.date.created2008
dc.date.issued2008
dc.identifier.citationBorràs 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.urihttp://hdl.handle.net/2117/2736
dc.description.abstractA 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.extentp. 145 - 150
dc.language.isoeng
dc.publisherLIRMM
dc.relation.ispartofInternational Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Kinematics
dc.titleAnalysing the singularities of 6-SPS parallel robots using virtual legs
dc.typeConference report
dc.subject.lemacRobots
dc.subject.lemacCinemàtica
dc.date.end2008-09-22
dc.date.start2008-09-21
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.rights.accessOpen Access


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