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Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Thomas, Federico |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2010-09-11T18:11:28Z |
dc.date.available | 2010-09-11T18:11:28Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Borras, J.; Thomas, F.; Torras, C. Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments. A: Computational Kinematics. "5th International Workshop on Computational Kinematics". Duisburg: Springer Verlag, 2009, p. 359-366. |
dc.identifier.isbn | 978-3-642-01946-3 |
dc.identifier.uri | http://hdl.handle.net/2117/8820 |
dc.description.abstract | An algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket encoding of the pure condition, no straightening is required. It is then shown that any 3-3 platform has a corresponding 6-6 platform having its same superbracket, meaning that they have identical singularity loci. In general, the superbracket of any doubleplanar platform can be written as a linear combination of the superbrackets of 3-3 platforms, leading to a direct singularity assessment by inspecting the resulting decomposition. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Springer Verlag |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Kinematics |
dc.title | Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments |
dc.type | Conference report |
dc.subject.lemac | Robòtica |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.rights.access | Open Access |
local.identifier.drac | 2746551 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Borras, J.; Thomas, F.; Torras, C. |
local.citation.contributor | Computational Kinematics |
local.citation.pubplace | Duisburg |
local.citation.publicationName | 5th International Workshop on Computational Kinematics |
local.citation.startingPage | 359 |
local.citation.endingPage | 366 |