Ir al contenido (pulsa Retorno)

Universitat Politècnica de Catalunya

    • Català
    • Castellano
    • English
    • LoginRegisterLog in (no UPC users)
  • mailContact Us
  • world English 
    • Català
    • Castellano
    • English
  • userLogin   
      LoginRegisterLog in (no UPC users)

UPCommons. Global access to UPC knowledge

57.066 UPC E-Prints
You are here:
View Item 
  •   DSpace Home
  • E-prints
  • Instituts de recerca
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC
  • Articles de revista
  • View Item
  •   DSpace Home
  • E-prints
  • Instituts de recerca
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC
  • Articles de revista
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

A linear relaxation technique for the position analysis of multiloop linkages

Thumbnail
View/Open
zzz.pdf (938,0Kb)
Share:
 
 
10.1109/TRO.2008.2012337
 
  View Usage Statistics
Cita com:
hdl:2117/6838

Show full item record
Porta Pleite, Josep MariaMés informacióMés informació
Ros Giralt, LluísMés informacióMés informació
Thomas, FedericoMés informacióMés informació
Document typeArticle
Defense date2009
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted formulation yields a system of simple equations (only containing linear, bilinear, and quadratic monomials, and trivial trigonometric terms for the helical pair only) whose structure is later exploited by a branch-and-prune method based on linear relaxations. The method is general, as it can be applied to linkages with single or multiple loops with arbitrary topology, involving lower pairs of any kind, and complete, as all possible solutions get accurately bounded, irrespective of whether the linkage is rigid or mobile.
CitationPorta, J.; Ros, L.; Thomas, F. A linear relaxation technique for the position analysis of multiloop linkages. "IEEE transactions on robotics", 2009, vol. 25, núm. 2, p. 225-239. 
URIhttp://hdl.handle.net/2117/6838
DOI10.1109/TRO.2008.2012337
ISSN1552-3098
Publisher versionhttp://dx.doi.org/10.1109/TRO.2008.2012337
Collections
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [290]
Share:
 
  View Usage Statistics

Show full item record

FilesDescriptionSizeFormatView
zzz.pdf938,0KbPDFView/Open

Browse

This CollectionBy Issue DateAuthorsOther contributionsTitlesSubjectsThis repositoryCommunities & CollectionsBy Issue DateAuthorsOther contributionsTitlesSubjects

© UPC Obrir en finestra nova . Servei de Biblioteques, Publicacions i Arxius

info.biblioteques@upc.edu

  • About This Repository
  • Contact Us
  • Send Feedback
  • Inici de la pàgina