CDR - Cinemàtica i Disseny de Robots

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  • A distance geometry approach to the singularity analysis of 3R robots 

    Thomas, Federico (ASME PRESS, 2015)
    Article
    Restricted access - publisher's policy
    This paper shows how the computation of the singularity locus of a 3R robot can be reduced to the analysis of the relative position of two coplanar ellipses. Since the relative position of two conics is a projective ...

  • A unified position analysis of the Dixon and the generalized Peaucellier linkages 

    Rojas Libreros, Nicolás Enrique; Dollar, Aaron M.; Thomas, Federico (2015-12-01)
    Article
    Open Access
    This paper shows how, using elementary Distance Geometry, a closure polynomial of degree 8 for the Dixon linkage can be derived without any trigonometric substitution, variable elimination, or artifice to collapse mirror ...