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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2010-09-11T18:11:28Z
dc.date.available2010-09-11T18:11:28Z
dc.date.created2009
dc.date.issued2009
dc.identifier.citationBorras, 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.isbn978-3-642-01946-3
dc.identifier.urihttp://hdl.handle.net/2117/8820
dc.description.abstractAn 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.extent8 p.
dc.language.isoeng
dc.publisherSpringer Verlag
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshKinematics
dc.titleStraightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments
dc.typeConference report
dc.subject.lemacRobòtica
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
local.identifier.drac2746551
dc.description.versionPostprint (author’s final draft)
local.citation.authorBorras, J.; Thomas, F.; Torras, C.
local.citation.contributorComputational Kinematics
local.citation.pubplaceDuisburg
local.citation.publicationName5th International Workshop on Computational Kinematics
local.citation.startingPage359
local.citation.endingPage366


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